69
Total objective tests
16
Objectives passed
2
Objectives failed
51
Objectives skipped
18.9s
Avg test time
89%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives2 fail11 pass24 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 32.2s | 6 errors · 177 warnings · 203 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.614ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.796ms ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.412ms + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.879ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.688ms ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.367ms + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.444ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5).[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.113ms + 3.98sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.98sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786589307.65696025 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786589308.22765589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 4.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.644ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.327ms + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.514ms + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.530ms + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.92sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.489ms + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.434ms + 7.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.466ms + 7.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.521ms + 7.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.334ms + 7.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.558ms + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133316 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133316 ms (missed cycles : 3).[0m ×2 + 7.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.136ms ×2 + 8.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.085ms + 8.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.311ms + 8.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.702ms ×2 + 8.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.4 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.4 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.565ms + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503096 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503096 ms (missed cycles : 3).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 9.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.233ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569142 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569142 ms (missed cycles : 4).[0m ×2 + 10.03sWARNstate_estimatorOptimization exceeded the configured duration by 9370521ns + 10.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 10.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.376ms + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515342 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515342 ms (missed cycles : 2).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.230ms + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.582ms + 11.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.118ms + 11.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 11.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.637ms + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.151ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868129 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868129 ms (missed cycles : 3).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.591ms + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 47.6 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 13.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887003 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887003 ms (missed cycles : 3).[0m ×2 + 13.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.248ms + 13.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.766ms + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.123ms ×3 + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477217 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477217 ms (missed cycles : 3).[0m ×2 + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.526ms + 14.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 15.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 49.8 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.029ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182897 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182897 ms (missed cycles : 2).[0m ×2 + 15.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.428ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.645ms + 16.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.065ms + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998952 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998952 ms (missed cycles : 2).[0m ×2 + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.280ms + 17.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 52.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 52.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016392 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016392 ms (missed cycles : 2).[0m ×2 + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.763ms + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.236ms + 18.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.156ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313598 ms (missed cycles : 3). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313598 ms (missed cycles : 3).[0m ×2 + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.323ms + 19.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 54.0 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 54.0 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.397ms + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580422 ms (missed cycles : 4). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580422 ms (missed cycles : 4).[0m ×2 + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.973ms + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.026ms + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139433 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139433 ms (missed cycles : 3).[0m ×2 + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 20.85sWARNstate_estimatorOptimization exceeded the configured duration by 26373077ns + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 21.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.0 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.0 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 21.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.840ms + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.380ms ×2 + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.473ms + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830442 ms (missed cycles : 4). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830442 ms (missed cycles : 4).[0m ×2 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.305ms + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.617ms + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249651 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249651 ms (missed cycles : 2).[0m ×2 + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.279ms + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.212ms + 23.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.2 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.2 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.682ms + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.461ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391255 ms (missed cycles : 4). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391255 ms (missed cycles : 4).[0m ×2 + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.105ms + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.261ms + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.869ms + 24.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872124 ms (missed cycles : 2). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872124 ms (missed cycles : 2).[0m ×2 + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.388ms + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.436ms + 25.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.2 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 25.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.2 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.268ms + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.377ms + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578848 ms (missed cycles : 4). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578848 ms (missed cycles : 4).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.999ms + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.871ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834783 ms (missed cycles : 2). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834783 ms (missed cycles : 2).[0m ×2 + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.386ms + 27.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks. + 27.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 62.2 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.576ms + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132182 ms (missed cycles : 4). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132182 ms (missed cycles : 4).[0m ×2 + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.469ms + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.712ms + 28.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.775ms + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388024 ms (missed cycles : 3). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388024 ms (missed cycles : 3).[0m ×2 + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.399ms + 29.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.512ms + 29.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 29.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 64.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167320 ms (missed cycles : 2). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167320 ms (missed cycles : 2).[0m ×2 + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.395ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.420ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.002ms + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.427ms + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.271ms + 31.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.2 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 31.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 66.2 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749107 ms (missed cycles : 4). + 31.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749107 ms (missed cycles : 4).[0m ×2 + 31.55sWARNstate_estimatorOptimization exceeded the configured duration by 29411760ns + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.619ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.848ms + 32.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.475ms + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792419 ms (missed cycles : 4). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792419 ms (missed cycles : 4).[0m ×2 + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.897ms + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.822ms + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469018 ms (missed cycles : 4). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469018 ms (missed cycles : 4).[0m ×2 + 33.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.4 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.4 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.465ms + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116276 ms (missed cycles : 4). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116276 ms (missed cycles : 4).[0m ×2 + 34.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.745ms + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844726 ms (missed cycles : 3). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844726 ms (missed cycles : 3).[0m ×2 + 35.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.09sWARNobjective_server_nodeDIAG_TPF stamp=1786589339.265550718 target=world cloud_age=0.4520s tf_wait=0.0064s total=921600 finite=921600 IN_BOX=0 (in_x=0 in_y=0 in_z=73191) base=[-4.1201,12.8686,-0.0480] bbox_x=[4.972,3228.791] bbox_y=[-2848.153,-4.823] bbox_z=[0.007,1402.153] centroid=[37.804,-39.006,13.925][0m ×2 + 36.19sWARNobjective_server_nodeDIAG_CROP in_frame=world box_frame=world in_pts=921600 out_pts=0 box_dim=[5.000,15.000,0.200] min_corner=[-2.500,4.500,1.600] box2cloud_t=[0.0000,0.0000,0.0000] stamp=1786589339.265550000[0m ×2 + 36.21sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 36.21sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 36.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1786589339.84787178 seconds ×3 + 36.36sWARNlocal_costmap.local_costmapSensor origin at (-9.84, 37.01) is out of map bounds (-9.50, 24.15) to (-4.53, 29.13). The costmap cannot raytrace for it. + 36.36sWARNlocal_costmap.local_costmapSensor origin at (-10.74, 36.98) is out of map bounds (-9.50, 24.15) to (-4.53, 29.13). The costmap cannot raytrace for it. + 36.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.068ms + 36.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.879ms + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098442 ms (missed cycles : 3). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098442 ms (missed cycles : 3).[0m ×2 + 36.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.931ms + 36.89sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786589340.52796459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.802ms + 37.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.533ms + 37.22sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.914ms + 37.30sINFOobjective_server_nodeFound path in 0 iterations (5.74e-07 s). ×2 + 37.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.497ms + 37.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.756ms + 37.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368499 ms (missed cycles : 3). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368499 ms (missed cycles : 3).[0m ×2 + 37.73sINFOros2_control_nodeMuJoCo sim: 2.38% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.6 s (AMCL untrusted, spread=1.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.6 s (AMCL untrusted, spread=1.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.810ms + 38.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.608ms + 38.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.706ms + 38.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.244ms + 38.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.211ms + 38.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.805ms + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754619 ms (missed cycles : 2). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754619 ms (missed cycles : 2).[0m ×2 + 38.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.631ms + 38.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.893ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 30.7s | 9 errors · 164 warnings · 205 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 4.857ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690247 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690247 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 7.077ms + 0.60sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 5.330ms + 0.80sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 4.921ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193876 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193876 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.691ms + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.0 s (AMCL untrusted, spread=2.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.0 s (AMCL untrusted, spread=2.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.054ms + 1.50sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 3.629ms + 1.80sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 4.294ms + 2.00sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.704ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248709 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248709 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.590ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.532ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.724ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.388ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983859 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983859 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.912ms + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.2 s (AMCL untrusted, spread=1.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.2 s (AMCL untrusted, spread=1.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.885ms + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.807ms + 4.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOjoint_trajectory_controllerGot request to cancel goal + 4.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.08sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786589350.76524425 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838587 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838587 ms (missed cycles : 4).[0m ×2 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.461ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.354ms ×2 + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786589351.33505154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 3.261ms + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.80sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 3.188ms + 5.00sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 4.022ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472445 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472445 ms (missed cycles : 3).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.152ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.149ms + 5.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=1.05); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=1.05); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.886ms ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.535ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.499ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.534ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474822 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474822 ms (missed cycles : 3).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms ×2 + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.196ms + 6.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.374ms + 7.30sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.653ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519386 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519386 ms (missed cycles : 3).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 4.274ms + 7.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.4 s (AMCL untrusted, spread=0.97); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 85.4 s (AMCL untrusted, spread=0.97); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.711ms + 7.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.700ms + 8.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.318ms + 8.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.225ms ×2 + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.466ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225468 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225468 ms (missed cycles : 2).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.493ms + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.575ms + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.376ms + 9.04sWARNstate_estimatorOptimization exceeded the configured duration by 31457491ns + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465453 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465453 ms (missed cycles : 3).[0m ×2 + 9.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.4 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 87.4 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.167ms + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.228ms + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.831ms + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.624ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255542 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255542 ms (missed cycles : 3).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.701ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.093ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 11.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 89.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.411ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598974 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598974 ms (missed cycles : 3).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.067ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.218ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330812 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330812 ms (missed cycles : 4).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.088ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.004ms + 13.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 91.4 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.606ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902382 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902382 ms (missed cycles : 4).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.628ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.320ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.544ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.119ms + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070176 ms (missed cycles : 4). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070176 ms (missed cycles : 4).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 15.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 93.6 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.406ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.256ms + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030217 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030217 ms (missed cycles : 2).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.375ms + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.353ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389350 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389350 ms (missed cycles : 3).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 17.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.496ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.656ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.540ms + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381057 ms (missed cycles : 3). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381057 ms (missed cycles : 3).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.184ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.932ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 19.24sWARNstate_estimatorOptimization exceeded the configured duration by 30707653ns + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123920 ms (missed cycles : 3). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123920 ms (missed cycles : 3).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.969ms + 19.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.6 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.6 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.412ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.156ms + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273677 ms (missed cycles : 3). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273677 ms (missed cycles : 3).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.440ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651356 ms (missed cycles : 4). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651356 ms (missed cycles : 4).[0m ×2 + 21.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 99.8 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 99.8 s (AMCL untrusted, spread=0.52); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.380ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.980ms + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188556 ms (missed cycles : 4). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188556 ms (missed cycles : 4).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.145ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.480ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.535ms + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494027 ms (missed cycles : 2). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494027 ms (missed cycles : 2).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.706ms + 23.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.8 s (AMCL untrusted, spread=0.54); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.8 s (AMCL untrusted, spread=0.54); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.736ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.815ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.460ms ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086808 ms (missed cycles : 4). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086808 ms (missed cycles : 4).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.481ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.849ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.696ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.866ms + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.246ms + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300213 ms (missed cycles : 4). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300213 ms (missed cycles : 4).[0m ×2 + 26.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.0 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 104.0 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.395ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.349ms + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.914ms + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273492 ms (missed cycles : 3). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273492 ms (missed cycles : 3).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.482ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.532ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.654ms + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759569 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759569 ms (missed cycles : 2).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.798ms + 28.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.0 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 106.0 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.788ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.636ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.012ms + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925075 ms (missed cycles : 2). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925075 ms (missed cycles : 2).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.453ms + 29.35sWARNstate_estimatorOptimization exceeded the configured duration by 47890424ns + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.568ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.299ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.286ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.579ms + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251142 ms (missed cycles : 5). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251142 ms (missed cycles : 5).[0m ×2 + 30.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.0 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 108.0 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.491ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.625ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.696ms + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467023 ms (missed cycles : 4). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467023 ms (missed cycles : 4).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.782ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.819ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.622ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.776ms + 32.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.0 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.19sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.0 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300107 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300107 ms (missed cycles : 2).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.065ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.698ms + 33.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.378ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190864 ms (missed cycles : 2). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190864 ms (missed cycles : 2).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.682ms + 34.19sINFOjoint_trajectory_controllerGoal reached, success! + 34.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285011 ms (missed cycles : 4). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285011 ms (missed cycles : 4).[0m ×2 + 34.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.2 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.2 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.68sINFOobjective_server_node[0;m[33m[WARN] [2026-08-13 02:49:41.334] DIAG_TPF stamp=1786589380.866086254 target=world cloud_age=0.4486s tf_wait=0.0081s total=921600 finite=921600 IN_BOX=0 (in_x=0 in_y=0 in_z=73388) base=[-4.1146,12.8809,-0.0480] bbox_x=[10.870,3361.197] bbox_y=[-2707.716,-18.425] bbox_z=[0.007,1415.227] centroid=[53.563,-57.376,16.829][0m ×2 + 34.76sWARNobjective_server_nodeDIAG_CROP in_frame=world box_frame=world in_pts=921600 out_pts=0 box_dim=[5.000,4.000,0.200] min_corner=[-2.500,10.500,1.600] box2cloud_t=[0.0000,0.0000,0.0000] stamp=1786589380.866086000[0m ×2 + 34.76sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 34.77sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 34.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1786589381.42523742 seconds ×3 + 35.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 35.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 35.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 35.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 35.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 36.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 36.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 36.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 36.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 36.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 37.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 209 warnings · 247 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786589209.19651031 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786589209.77030993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3).[0m ×2 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.525e-05 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.67sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.67sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.67sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.67sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480814 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480814 ms (missed cycles : 3).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms ×2 + 3.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786589212.95045066 seconds ×3 + 4.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786589213.50887275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377546 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377546 ms (missed cycles : 3).[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.605ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055122 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055122 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518976 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518976 ms (missed cycles : 4).[0m ×2 + 6.91sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702181 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702181 ms (missed cycles : 2).[0m ×2 + 8.21sWARNstate_estimatorOptimization exceeded the configured duration by 31800339ns + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms ×2 + 8.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.505ms + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265605 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265605 ms (missed cycles : 2).[0m ×2 + 9.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.906ms + 9.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 9.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.932ms + 9.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002374 ms (missed cycles : 3). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002374 ms (missed cycles : 3).[0m ×2 + 10.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 10.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 10.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 10.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 10.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696915 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696915 ms (missed cycles : 3).[0m ×2 + 11.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 12.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060176 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060176 ms (missed cycles : 3).[0m ×2 + 12.18sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.792ms + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.891ms + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.210ms + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192254 ms (missed cycles : 4). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192254 ms (missed cycles : 4).[0m ×2 + 13.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 13.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 13.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.887ms + 14.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.111ms + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680959 ms (missed cycles : 4). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680959 ms (missed cycles : 4).[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.259ms + 14.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 15.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225088 ms (missed cycles : 4). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225088 ms (missed cycles : 4).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.211ms + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.809ms + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.026ms + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456395 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456395 ms (missed cycles : 3).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 16.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135143 ms (missed cycles : 3). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135143 ms (missed cycles : 3).[0m ×2 + 17.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 17.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 18.29sWARNstate_estimatorOptimization exceeded the configured duration by 10170252ns + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.066ms + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.636ms + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141470 ms (missed cycles : 4). + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141470 ms (missed cycles : 4).[0m ×2 + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 19.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758453 ms (missed cycles : 2). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758453 ms (missed cycles : 2).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.123ms + 19.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 20.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.123ms + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720828 ms (missed cycles : 5). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720828 ms (missed cycles : 5).[0m ×2 + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms ×2 + 21.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 21.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.094ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127049 ms (missed cycles : 3). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127049 ms (missed cycles : 3).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.070ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.131ms + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601722 ms (missed cycles : 3). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601722 ms (missed cycles : 3).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.475ms + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.552ms + 23.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.244ms + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374846 ms (missed cycles : 3). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374846 ms (missed cycles : 3).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.416ms + 24.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.546ms + 24.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.902ms + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249570 ms (missed cycles : 4). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249570 ms (missed cycles : 4).[0m ×2 + 25.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.499ms + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.186ms + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.851ms + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548856 ms (missed cycles : 3). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548856 ms (missed cycles : 3).[0m ×2 + 26.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.196ms + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.323ms ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418663 ms (missed cycles : 3). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418663 ms (missed cycles : 3).[0m ×2 + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.067ms + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.376ms + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.696ms + 27.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.611ms + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.800ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213205 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213205 ms (missed cycles : 3).[0m ×2 + 28.30sWARNstate_estimatorOptimization exceeded the configured duration by 15824159ns + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.473ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.669ms + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.444ms + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.079ms + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172020 ms (missed cycles : 4). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172020 ms (missed cycles : 4).[0m ×2 + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.647ms + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.797ms + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640304 ms (missed cycles : 4). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640304 ms (missed cycles : 4).[0m ×2 + 30.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.972ms + 30.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.304ms + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.404ms + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.268ms ×2 + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791287 ms (missed cycles : 2). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791287 ms (missed cycles : 2).[0m ×2 + 31.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.437ms + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.787ms + 31.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.195ms + 32.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.491ms + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.194ms + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720438 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720438 ms (missed cycles : 2).[0m ×2 + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.654ms + 32.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.405ms + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.794ms + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964544 ms (missed cycles : 2). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964544 ms (missed cycles : 2).[0m ×2 + 33.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.382ms + 34.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.358ms + 34.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.013ms + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940555 ms (missed cycles : 4). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940555 ms (missed cycles : 4).[0m ×2 + 34.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.654ms + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422682 ms (missed cycles : 5). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422682 ms (missed cycles : 5).[0m ×2 + 35.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.68sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180642 ms (missed cycles : 4). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180642 ms (missed cycles : 4).[0m ×2 + 37.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.379ms + 37.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298454 ms (missed cycles : 3). + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298454 ms (missed cycles : 3).[0m ×2 + 38.33sWARNstate_estimatorOptimization exceeded the configured duration by 46719807ns + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109970 ms (missed cycles : 5). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109970 ms (missed cycles : 5).[0m ×2 + 39.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 39.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529761 ms (missed cycles : 2). + 39.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529761 ms (missed cycles : 2).[0m ×2 + 40.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.400ms + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329979 ms (missed cycles : 2). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329979 ms (missed cycles : 2).[0m ×2 + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556651 ms (missed cycles : 4). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556651 ms (missed cycles : 4).[0m ×2 + 41.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.377ms + 42.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.354ms + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800117 ms (missed cycles : 3). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800117 ms (missed cycles : 3).[0m ×2 + 43.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.644ms + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835837 ms (missed cycles : 3). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835837 ms (missed cycles : 3).[0m ×2 + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041254 ms (missed cycles : 4). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041254 ms (missed cycles : 4).[0m ×2 + 45.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.440ms + 46.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758463 ms (missed cycles : 3). + 46.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758463 ms (missed cycles : 3).[0m ×2 + 47.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.26sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136549 ms (missed cycles : 3). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136549 ms (missed cycles : 3).[0m ×2 + 47.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.220ms + 48.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944910 ms (missed cycles : 2). + 48.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944910 ms (missed cycles : 2).[0m ×2 + 48.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.955ms + 48.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.330ms + 49.00sWARNstate_estimatorOptimization exceeded the configured duration by 23728128ns + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773115 ms (missed cycles : 5). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773115 ms (missed cycles : 5).[0m ×2 + 49.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 50.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.716ms + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339279 ms (missed cycles : 3). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339279 ms (missed cycles : 3).[0m ×2 + 51.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 51.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125201 ms (missed cycles : 5). + 51.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125201 ms (missed cycles : 5).[0m ×2 + 51.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.892ms + 52.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.065ms + 52.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574664 ms (missed cycles : 4). + 52.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574664 ms (missed cycles : 4).[0m ×2 + 53.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 53.46sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 53.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944563 ms (missed cycles : 2). + 53.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944563 ms (missed cycles : 2).[0m ×2 + 54.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.510ms + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922556 ms (missed cycles : 2). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922556 ms (missed cycles : 2).[0m ×2 + 55.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.765ms + 55.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 55.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 55.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405327 ms (missed cycles : 2). + 55.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405327 ms (missed cycles : 2).[0m ×2 + 55.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.796ms + 56.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.627ms + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526958 ms (missed cycles : 4). + 56.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526958 ms (missed cycles : 4).[0m ×2 + 57.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.896ms + 57.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 57.86sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 58.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2). + 58.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2).[0m ×2 + 59.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5). + 59.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5).[0m ×2 + 59.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 60.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.785ms + 60.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2). + 60.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2).[0m ×2 + 60.59sWARNstate_estimatorOptimization exceeded the configured duration by 10198830ns + 61.34sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786589270.51903152 seconds ×3 + 61.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2). + 61.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2).[0m ×2 + 61.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.643ms + 61.51sWARNlocal_costmap.local_costmapSensor origin at (-0.01, 3.25) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 61.51sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 3.28) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 61.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.900ms + 61.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.247ms + 61.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786589271.09975982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.731ms + 62.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 62.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.884ms + 62.30sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 62.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.889ms + 62.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3).[0m ×2 + 62.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.950ms + 62.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.297ms + 62.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.075ms + 63.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 63.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2). + 63.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2).[0m ×2 + 63.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.555ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.5s | 1 error · 375 warnings · 239 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 0.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 0.58sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.58sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.58sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.58sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4).[0m ×2 + 4.21sWARNstate_estimatorOptimization exceeded the configured duration by 472261ns + 4.21sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.21sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589386.08753657 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589386.66655183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3).[0m ×2 + 7.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 120.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 120.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664392 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664392 ms (missed cycles : 3).[0m ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063396 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063396 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 9.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 122.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 122.6 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246492 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246492 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.094ms + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684948 ms (missed cycles : 4). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684948 ms (missed cycles : 4).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.752ms + 11.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 124.6 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 124.6 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988111 ms (missed cycles : 4). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988111 ms (missed cycles : 4).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.400ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.423ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.000ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961883 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961883 ms (missed cycles : 4).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.701ms + 13.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 126.6 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 13.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 126.6 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.126ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766587 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766587 ms (missed cycles : 3).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.342ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.279ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.060ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.778ms + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039122 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039122 ms (missed cycles : 2).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 15.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.8 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 15.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.8 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193851 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193851 ms (missed cycles : 2).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 17.12sWARNstate_estimatorOptimization exceeded the configured duration by 8130403ns + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066536 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066536 ms (missed cycles : 2).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.637ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.143ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.154ms + 17.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.8 s (AMCL untrusted, spread=0.58); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.8 s (AMCL untrusted, spread=0.58); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.770ms + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563222 ms (missed cycles : 3). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563222 ms (missed cycles : 3).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.498ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 19.52sINFOros2_control_nodeMuJoCo sim: 2.18% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915211 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915211 ms (missed cycles : 2).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.204ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 19.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.0 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 133.0 s (AMCL untrusted, spread=0.60); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.374ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694037 ms (missed cycles : 3). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694037 ms (missed cycles : 3).[0m ×2 + 20.97sWARNglobal_costmap.global_costmapSensor origin at (-13.58, 58.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.97sWARNglobal_costmap.global_costmapSensor origin at (-14.48, 58.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.344ms ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.382ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.746ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221609 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221609 ms (missed cycles : 2).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 21.97sWARNglobal_costmap.global_costmapSensor origin at (-13.68, 59.29) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.97sWARNglobal_costmap.global_costmapSensor origin at (-14.58, 59.33) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 21.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks. + 21.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 135.0 s (AMCL untrusted, spread=0.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.831ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215032 ms (missed cycles : 3). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215032 ms (missed cycles : 3).[0m ×2 + 22.97sWARNglobal_costmap.global_costmapSensor origin at (-13.78, 59.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 22.97sWARNglobal_costmap.global_costmapSensor origin at (-14.68, 59.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 23.97sWARNglobal_costmap.global_costmapSensor origin at (-13.88, 60.25) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.97sWARNglobal_costmap.global_costmapSensor origin at (-14.78, 60.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 23.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 137.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 23.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 137.0 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139998 ms (missed cycles : 4). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139998 ms (missed cycles : 4).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.794ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.402ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 24.97sWARNglobal_costmap.global_costmapSensor origin at (-13.99, 60.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 24.97sWARNglobal_costmap.global_costmapSensor origin at (-14.88, 60.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169145 ms (missed cycles : 4). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169145 ms (missed cycles : 4).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.867ms ×2 + 25.97sWARNglobal_costmap.global_costmapSensor origin at (-14.08, 61.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 25.97sWARNglobal_costmap.global_costmapSensor origin at (-14.98, 61.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954187 ms (missed cycles : 3). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954187 ms (missed cycles : 3).[0m ×2 + 26.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 139.2 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 139.2 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 26.97sWARNglobal_costmap.global_costmapSensor origin at (-14.19, 61.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 26.97sWARNglobal_costmap.global_costmapSensor origin at (-15.09, 61.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652373 ms (missed cycles : 3). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652373 ms (missed cycles : 3).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 27.31sWARNstate_estimatorOptimization exceeded the configured duration by 3050416ns + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.131ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.742ms + 27.97sWARNglobal_costmap.global_costmapSensor origin at (-14.30, 62.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 27.97sWARNglobal_costmap.global_costmapSensor origin at (-15.19, 62.23) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.419ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.424ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619224 ms (missed cycles : 3). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619224 ms (missed cycles : 3).[0m ×2 + 28.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 141.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 28.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 141.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.363ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.169ms + 28.97sWARNglobal_costmap.global_costmapSensor origin at (-14.42, 62.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 28.97sWARNglobal_costmap.global_costmapSensor origin at (-15.32, 62.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856843 ms (missed cycles : 4). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856843 ms (missed cycles : 4).[0m ×2 + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.078ms + 29.97sWARNglobal_costmap.global_costmapSensor origin at (-14.51, 63.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 29.97sWARNglobal_costmap.global_costmapSensor origin at (-15.41, 63.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.545ms + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 30.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 143.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks. + 30.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 143.4 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514303 ms (missed cycles : 3). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514303 ms (missed cycles : 3).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.003ms + 30.97sWARNglobal_costmap.global_costmapSensor origin at (-14.63, 63.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 30.97sWARNglobal_costmap.global_costmapSensor origin at (-15.53, 63.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.049ms + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658112 ms (missed cycles : 2). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658112 ms (missed cycles : 2).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.924ms + 31.97sWARNglobal_costmap.global_costmapSensor origin at (-14.73, 64.16) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 31.97sWARNglobal_costmap.global_costmapSensor origin at (-15.63, 64.21) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms + 32.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 145.4 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks. + 32.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 145.4 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.256ms + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149061 ms (missed cycles : 5). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149061 ms (missed cycles : 5).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 32.97sWARNglobal_costmap.global_costmapSensor origin at (-14.83, 64.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 32.97sWARNglobal_costmap.global_costmapSensor origin at (-15.73, 64.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.765ms + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.467ms + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.694ms + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699614 ms (missed cycles : 4). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699614 ms (missed cycles : 4).[0m ×2 + 33.97sWARNglobal_costmap.global_costmapSensor origin at (-14.94, 65.18) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 33.97sWARNglobal_costmap.global_costmapSensor origin at (-15.84, 65.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.171ms + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.870ms + 34.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 147.6 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks. + 34.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 147.6 s (AMCL untrusted, spread=0.73); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.987ms + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263689 ms (missed cycles : 3). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263689 ms (missed cycles : 3).[0m ×2 + 34.97sWARNglobal_costmap.global_costmapSensor origin at (-15.01, 65.47) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 34.97sWARNglobal_costmap.global_costmapSensor origin at (-15.91, 65.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.387ms + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774463 ms (missed cycles : 4). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774463 ms (missed cycles : 4).[0m ×2 + 35.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.442ms + 35.97sWARNglobal_costmap.global_costmapSensor origin at (-15.04, 65.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.97sWARNglobal_costmap.global_costmapSensor origin at (-15.94, 65.70) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.09sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.10sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.230ms + 36.59sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.6 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 36.59sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.6 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445481 ms (missed cycles : 3). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445481 ms (missed cycles : 3).[0m ×2 + 36.97sWARNglobal_costmap.global_costmapSensor origin at (-15.06, 65.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.97sWARNglobal_costmap.global_costmapSensor origin at (-15.96, 65.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.35sWARNstate_estimatorOptimization exceeded the configured duration by 42725992ns + 37.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.848ms + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127199 ms (missed cycles : 3). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127199 ms (missed cycles : 3).[0m ×2 + 37.97sWARNglobal_costmap.global_costmapSensor origin at (-15.20, 65.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.97sWARNglobal_costmap.global_costmapSensor origin at (-16.10, 65.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.8 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 38.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.8 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 38.97sWARNglobal_costmap.global_costmapSensor origin at (-15.19, 65.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 38.97sWARNglobal_costmap.global_costmapSensor origin at (-16.09, 65.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730424 ms (missed cycles : 2). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730424 ms (missed cycles : 2).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 39.97sWARNglobal_costmap.global_costmapSensor origin at (-15.00, 65.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 39.97sWARNglobal_costmap.global_costmapSensor origin at (-15.90, 65.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191746 ms (missed cycles : 4). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191746 ms (missed cycles : 4).[0m ×2 + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 40.97sWARNglobal_costmap.global_costmapSensor origin at (-14.91, 65.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.97sWARNglobal_costmap.global_costmapSensor origin at (-15.81, 65.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 40.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.0 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks. + 40.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 154.0 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 41.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716628 ms (missed cycles : 5). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716628 ms (missed cycles : 5).[0m ×2 + 41.97sWARNglobal_costmap.global_costmapSensor origin at (-14.87, 65.78) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 41.97sWARNglobal_costmap.global_costmapSensor origin at (-15.77, 65.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 42.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533244 ms (missed cycles : 4). + 42.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533244 ms (missed cycles : 4).[0m ×2 + 42.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 42.97sWARNglobal_costmap.global_costmapSensor origin at (-14.81, 66.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.97sWARNglobal_costmap.global_costmapSensor origin at (-15.70, 65.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 42.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.0 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 42.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.0 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021081 ms (missed cycles : 5). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021081 ms (missed cycles : 5).[0m ×2 + 43.93sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1786589425.631446 but the latest data is at time 1786589425.531476, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] + 43.97sWARNglobal_costmap.global_costmapSensor origin at (-14.80, 66.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 43.97sWARNglobal_costmap.global_costmapSensor origin at (-15.69, 65.98) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309307 ms (missed cycles : 3). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309307 ms (missed cycles : 3).[0m ×2 + 44.97sWARNglobal_costmap.global_costmapSensor origin at (-14.77, 66.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 44.97sWARNglobal_costmap.global_costmapSensor origin at (-15.67, 66.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 45.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102518 ms (missed cycles : 2). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102518 ms (missed cycles : 2).[0m ×2 + 45.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 45.97sWARNglobal_costmap.global_costmapSensor origin at (-14.78, 65.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 45.97sWARNglobal_costmap.global_costmapSensor origin at (-15.68, 65.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471494 ms (missed cycles : 4). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471494 ms (missed cycles : 4).[0m ×2 + 46.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.033ms + 46.97sWARNglobal_costmap.global_costmapSensor origin at (-14.81, 65.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 46.97sWARNglobal_costmap.global_costmapSensor origin at (-15.71, 65.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks. + 47.19sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.2 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 47.43sWARNstate_estimatorOptimization exceeded the configured duration by 25298022ns + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544594 ms (missed cycles : 2). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544594 ms (missed cycles : 2).[0m ×2 + 47.97sWARNglobal_costmap.global_costmapSensor origin at (-14.76, 65.77) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 47.97sWARNglobal_costmap.global_costmapSensor origin at (-15.66, 65.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131911 ms (missed cycles : 2). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131911 ms (missed cycles : 2).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.527ms + 48.97sWARNglobal_costmap.global_costmapSensor origin at (-14.75, 65.90) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 48.97sWARNglobal_costmap.global_costmapSensor origin at (-15.65, 65.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.269ms + 49.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks. + 49.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 49.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815788 ms (missed cycles : 3). + 49.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815788 ms (missed cycles : 3).[0m ×2 + 49.97sWARNglobal_costmap.global_costmapSensor origin at (-14.72, 66.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 49.97sWARNglobal_costmap.global_costmapSensor origin at (-15.61, 65.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.083ms + 50.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716929 ms (missed cycles : 2). + 50.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716929 ms (missed cycles : 2).[0m ×2 + 50.97sWARNglobal_costmap.global_costmapSensor origin at (-14.66, 66.14) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 50.97sWARNglobal_costmap.global_costmapSensor origin at (-15.56, 66.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.4 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks. + 51.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.4 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 51.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495750 ms (missed cycles : 3). + 51.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495750 ms (missed cycles : 3).[0m ×2 + 51.97sWARNglobal_costmap.global_costmapSensor origin at (-14.65, 66.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 51.97sWARNglobal_costmap.global_costmapSensor origin at (-15.55, 66.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.319ms + 52.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.057ms + 52.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587023 ms (missed cycles : 4). + 52.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587023 ms (missed cycles : 4).[0m ×2 + 52.97sWARNglobal_costmap.global_costmapSensor origin at (-14.68, 65.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 52.97sWARNglobal_costmap.global_costmapSensor origin at (-15.58, 65.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 166.4 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks. + 53.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 166.4 s (AMCL untrusted, spread=0.26); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 53.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.026ms + 53.97sWARNglobal_costmap.global_costmapSensor origin at (-14.68, 65.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.97sWARNglobal_costmap.global_costmapSensor origin at (-15.58, 65.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 53.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555480 ms (missed cycles : 2). + 53.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555480 ms (missed cycles : 2).[0m ×2 + 54.97sWARNglobal_costmap.global_costmapSensor origin at (-14.62, 65.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.97sWARNglobal_costmap.global_costmapSensor origin at (-15.51, 65.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770166 ms (missed cycles : 4). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770166 ms (missed cycles : 4).[0m ×2 + 55.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 168.6 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 55.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 168.6 s (AMCL untrusted, spread=0.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 55.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.219ms + 55.97sWARNglobal_costmap.global_costmapSensor origin at (-14.60, 65.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 55.97sWARNglobal_costmap.global_costmapSensor origin at (-15.50, 65.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485622 ms (missed cycles : 5). + 56.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485622 ms (missed cycles : 5).[0m ×2 + 56.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 56.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.227ms + 56.97sWARNglobal_costmap.global_costmapSensor origin at (-14.53, 66.09) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 56.97sWARNglobal_costmap.global_costmapSensor origin at (-15.43, 66.00) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800636 ms (missed cycles : 3). + 57.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800636 ms (missed cycles : 3).[0m ×2 + 57.47sWARNstate_estimatorOptimization exceeded the configured duration by 63855600ns + 57.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 170.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 57.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 170.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 57.97sWARNglobal_costmap.global_costmapSensor origin at (-14.52, 66.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 57.97sWARNglobal_costmap.global_costmapSensor origin at (-15.41, 66.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821161 ms (missed cycles : 3). + 58.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821161 ms (missed cycles : 3).[0m ×2 + 58.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 58.97sWARNglobal_costmap.global_costmapSensor origin at (-14.43, 66.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 58.97sWARNglobal_costmap.global_costmapSensor origin at (-15.33, 66.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122778 ms (missed cycles : 4). + 59.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122778 ms (missed cycles : 4).[0m ×2 + 59.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 172.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 59.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 172.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 59.97sWARNglobal_costmap.global_costmapSensor origin at (-14.43, 66.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 59.97sWARNglobal_costmap.global_costmapSensor origin at (-15.33, 66.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.263ms + 60.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365868 ms (missed cycles : 3). + 60.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365868 ms (missed cycles : 3).[0m ×2 + 60.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.438ms + 60.97sWARNglobal_costmap.global_costmapSensor origin at (-14.44, 65.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 60.97sWARNglobal_costmap.global_costmapSensor origin at (-15.34, 65.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 61.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549314 ms (missed cycles : 3). + 61.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549314 ms (missed cycles : 3).[0m ×2 + 61.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 174.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 61.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 174.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 61.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786589443.64669132 seconds ×3 + 61.84sWARNlocal_costmap.local_costmapSensor origin at (-17.99, 65.75) is out of map bounds (-21.65, 66.45) to (-16.68, 71.42). The costmap cannot raytrace for it. + 61.84sWARNlocal_costmap.local_costmapSensor origin at (-18.88, 65.78) is out of map bounds (-21.65, 66.45) to (-16.68, 71.42). The costmap cannot raytrace for it. + 61.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 61.97sWARNglobal_costmap.global_costmapSensor origin at (-14.45, 65.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.97sWARNglobal_costmap.global_costmapSensor origin at (-15.34, 65.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 62.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.473ms + 62.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786589444.21300173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198173 ms (missed cycles : 3). + 62.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198173 ms (missed cycles : 3).[0m ×2 + 62.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 62.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 62.78sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 62.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 62.81sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.266ms + 62.97sWARNglobal_costmap.global_costmapSensor origin at (-14.40, 66.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.97sWARNglobal_costmap.global_costmapSensor origin at (-15.30, 66.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.464ms + 63.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 63.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417105 ms (missed cycles : 3). + 63.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417105 ms (missed cycles : 3).[0m ×2 + 63.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 63.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.768ms + 63.97sWARNglobal_costmap.global_costmapSensor origin at (-14.40, 66.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.97sWARNglobal_costmap.global_costmapSensor origin at (-15.30, 66.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 177.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 63.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 177.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 64.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 64.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618154 ms (missed cycles : 3). + 64.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618154 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 152 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.58sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 3.89sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 5.17sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889810 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889810 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154919 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154919 ms (missed cycles : 4).[0m ×2 + 7.24sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.171ms + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405463 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405463 ms (missed cycles : 4).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138797 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138797 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630375 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630375 ms (missed cycles : 2).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860638 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860638 ms (missed cycles : 3).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286058 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286058 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208346 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208346 ms (missed cycles : 2).[0m ×2 + 14.15sWARNstate_estimatorOptimization exceeded the configured duration by 646472ns + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375800 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375800 ms (missed cycles : 3).[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396491 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396491 ms (missed cycles : 3).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019175 ms (missed cycles : 4). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019175 ms (missed cycles : 4).[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905828 ms (missed cycles : 3). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905828 ms (missed cycles : 3).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.453ms + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622735 ms (missed cycles : 3). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622735 ms (missed cycles : 3).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411532 ms (missed cycles : 3). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411532 ms (missed cycles : 3).[0m ×2 + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680744 ms (missed cycles : 2). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680744 ms (missed cycles : 2).[0m ×2 + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104592 ms (missed cycles : 2). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104592 ms (missed cycles : 2).[0m ×2 + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206694 ms (missed cycles : 4). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206694 ms (missed cycles : 4).[0m ×2 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003209 ms (missed cycles : 3). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003209 ms (missed cycles : 3).[0m ×2 + 24.27sWARNstate_estimatorOptimization exceeded the configured duration by 24519933ns + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078984 ms (missed cycles : 3). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078984 ms (missed cycles : 3).[0m ×2 + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402608 ms (missed cycles : 3). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402608 ms (missed cycles : 3).[0m ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066667 ms (missed cycles : 4). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066667 ms (missed cycles : 4).[0m ×2 + 28.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765386 ms (missed cycles : 3). + 28.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765386 ms (missed cycles : 3).[0m ×2 + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361474 ms (missed cycles : 3). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361474 ms (missed cycles : 3).[0m ×2 + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968842 ms (missed cycles : 2). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968842 ms (missed cycles : 2).[0m ×2 + 30.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.007ms + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958105 ms (missed cycles : 3). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958105 ms (missed cycles : 3).[0m ×2 + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116253 ms (missed cycles : 2). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116253 ms (missed cycles : 2).[0m ×2 + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128606 ms (missed cycles : 4). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128606 ms (missed cycles : 4).[0m ×2 + 34.37sWARNstate_estimatorOptimization exceeded the configured duration by 24636029ns + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261506 ms (missed cycles : 2). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261506 ms (missed cycles : 2).[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433550 ms (missed cycles : 2). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433550 ms (missed cycles : 2).[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638738 ms (missed cycles : 3). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638738 ms (missed cycles : 3).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541803 ms (missed cycles : 4). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541803 ms (missed cycles : 4).[0m ×2 + 38.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625881 ms (missed cycles : 2). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625881 ms (missed cycles : 2).[0m ×2 + 39.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659612 ms (missed cycles : 2). + 39.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659612 ms (missed cycles : 2).[0m ×2 + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287955 ms (missed cycles : 2). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287955 ms (missed cycles : 2).[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052741 ms (missed cycles : 4). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052741 ms (missed cycles : 4).[0m ×2 + 43.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744549 ms (missed cycles : 3). + 43.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744549 ms (missed cycles : 3).[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088255 ms (missed cycles : 2). + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088255 ms (missed cycles : 2).[0m ×2 + 45.18sWARNstate_estimatorOptimization exceeded the configured duration by 32005740ns + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841229 ms (missed cycles : 3). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841229 ms (missed cycles : 3).[0m ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640371 ms (missed cycles : 4). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640371 ms (missed cycles : 4).[0m ×2 + 47.07sINFOjoint_trajectory_controllerGoal reached, success! + 47.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786589209.19651031 seconds ×3 + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2). + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2).[0m ×2 + 47.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 47.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786589209.77030993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 48.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3).[0m ×2 + 48.71sINFOobjective_server_nodeFound path in 0 iterations (2.525e-05 s). ×2 + 48.71sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3).[0m ×2 + 49.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.5s | 165 warnings · 183 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.555ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.352ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348632 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348632 ms (missed cycles : 3).[0m ×2 + 1.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=6.86); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=6.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.613ms + 2.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.325ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562656 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562656 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.59sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.62sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786589275.17990279 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844802 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844802 ms (missed cycles : 2).[0m ×2 + 3.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=6.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=6.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786589276.76680017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815752 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815752 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (7.32e-07 s). ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686366 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686366 ms (missed cycles : 2).[0m ×2 + 5.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=5.92); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=5.92); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585358 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585358 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.69sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.69sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.30sWARNstate_estimatorOptimization exceeded the configured duration by 94224433ns + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820333 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820333 ms (missed cycles : 3).[0m ×2 + 7.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=5.91); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=5.91); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.165ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971242 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971242 ms (missed cycles : 3).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.100ms + 8.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.919ms + 8.81sINFOros2_control_nodeMuJoCo sim: 2.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.795ms + 9.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.535ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967867 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967867 ms (missed cycles : 3).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.615ms + 9.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=4.61); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=4.61); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.009ms + 10.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.695ms + 10.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.062ms + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206361 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206361 ms (missed cycles : 2).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.479ms + 11.00sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 6.463ms + 11.20sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.357ms + 11.50sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.125ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167054 ms (missed cycles : 4). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167054 ms (missed cycles : 4).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.542ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.261ms + 12.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=2.57); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=2.57); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.649ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.767ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.684ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465638 ms (missed cycles : 3). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465638 ms (missed cycles : 3).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.024ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.044ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.511ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.237ms + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.543ms + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802399 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802399 ms (missed cycles : 3).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 14.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 18.0 s (AMCL untrusted, spread=1.95); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 18.0 s (AMCL untrusted, spread=1.95); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.269ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.740ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219332 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219332 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.115ms + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.389ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.600ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860655 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860655 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.566ms + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.118ms + 16.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.2 s (AMCL untrusted, spread=1.27); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.2 s (AMCL untrusted, spread=1.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.654ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.815ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.399ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466123 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466123 ms (missed cycles : 3).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.756ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.195ms + 18.01sWARNstate_estimatorOptimization exceeded the configured duration by 5974482ns + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.646ms + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.691ms + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663102 ms (missed cycles : 3). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663102 ms (missed cycles : 3).[0m ×2 + 18.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.2 s (AMCL untrusted, spread=1.14); map->odom is dead-reckoning and will drift until AMCL re-locks. + 18.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.2 s (AMCL untrusted, spread=1.14); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.734ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.717ms + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984023 ms (missed cycles : 2). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984023 ms (missed cycles : 2).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.709ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.357ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms ×2 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.229ms ×2 + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208810 ms (missed cycles : 2). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208810 ms (missed cycles : 2).[0m ×2 + 20.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.4 s (AMCL untrusted, spread=0.96); map->odom is dead-reckoning and will drift until AMCL re-locks. + 20.68sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.4 s (AMCL untrusted, spread=0.96); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.119ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.056ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.486ms + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436863 ms (missed cycles : 3). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436863 ms (missed cycles : 3).[0m ×2 + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.743ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.349ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811766 ms (missed cycles : 3). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811766 ms (missed cycles : 3).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 22.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.6 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks. + 22.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.6 s (AMCL untrusted, spread=1.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.342ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.653ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.740ms + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230594 ms (missed cycles : 4). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230594 ms (missed cycles : 4).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.890ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.064ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.827ms + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448034 ms (missed cycles : 3). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448034 ms (missed cycles : 3).[0m ×2 + 24.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.6 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks. + 24.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.6 s (AMCL untrusted, spread=0.37); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.166ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982626 ms (missed cycles : 3). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982626 ms (missed cycles : 3).[0m ×2 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.586ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.611ms + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.333ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 26.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.6 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 26.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.6 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692733 ms (missed cycles : 3). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692733 ms (missed cycles : 3).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.127ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.262ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.180ms + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.938576 ms (missed cycles : 6). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.938576 ms (missed cycles : 6).[0m ×2 + 28.02sWARNstate_estimatorOptimization exceeded the configured duration by 13734153ns + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.257ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.749ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.537ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.473ms + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441381 ms (missed cycles : 4). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441381 ms (missed cycles : 4).[0m ×2 + 29.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 29.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 32.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.416ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.415ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.934ms + 30.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607236 ms (missed cycles : 2). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607236 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.937ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.601ms + 31.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 31.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.614ms + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.796ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.412ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.879ms + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 33.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 33.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.688ms + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5).[0m ×2 + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.367ms + 34.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.444ms + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5).[0m ×2 + 35.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.113ms + 35.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786589307.65696025 seconds ×3 + 35.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 35.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 35.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3).[0m ×2 + 35.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786589308.22765589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 35.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 36.04sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 36.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 36.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.644ms + 36.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.327ms + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3).[0m ×2 + 36.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 36.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.514ms + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms + 37.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 37.48sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 37.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 37.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 37.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4).[0m ×2 + 37.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.530ms + 37.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 38.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.489ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.8s | 135 warnings · 161 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 170.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 170.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.38sWARNglobal_costmap.global_costmapSensor origin at (-14.52, 66.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.38sWARNglobal_costmap.global_costmapSensor origin at (-15.41, 66.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821161 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821161 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 1.38sWARNglobal_costmap.global_costmapSensor origin at (-14.43, 66.19) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.38sWARNglobal_costmap.global_costmapSensor origin at (-15.33, 66.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122778 ms (missed cycles : 4). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122778 ms (missed cycles : 4).[0m ×2 + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 172.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 172.6 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.38sWARNglobal_costmap.global_costmapSensor origin at (-14.43, 66.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.38sWARNglobal_costmap.global_costmapSensor origin at (-15.33, 66.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.263ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365868 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365868 ms (missed cycles : 3).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.438ms + 3.38sWARNglobal_costmap.global_costmapSensor origin at (-14.44, 65.85) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.38sWARNglobal_costmap.global_costmapSensor origin at (-15.34, 65.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549314 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549314 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.16sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 174.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 174.8 s (AMCL untrusted, spread=0.21); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786589443.64669132 seconds ×3 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-17.99, 65.75) is out of map bounds (-21.65, 66.45) to (-16.68, 71.42). The costmap cannot raytrace for it. + 4.26sWARNlocal_costmap.local_costmapSensor origin at (-18.88, 65.78) is out of map bounds (-21.65, 66.45) to (-16.68, 71.42). The costmap cannot raytrace for it. + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 4.38sWARNglobal_costmap.global_costmapSensor origin at (-14.45, 65.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.38sWARNglobal_costmap.global_costmapSensor origin at (-15.34, 65.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.473ms + 4.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786589444.21300173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198173 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198173 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 5.20sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 5.23sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.266ms + 5.38sWARNglobal_costmap.global_costmapSensor origin at (-14.40, 66.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.38sWARNglobal_costmap.global_costmapSensor origin at (-15.30, 66.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.464ms + 5.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417105 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417105 ms (missed cycles : 3).[0m ×2 + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 6.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.768ms + 6.38sWARNglobal_costmap.global_costmapSensor origin at (-14.40, 66.30) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.38sWARNglobal_costmap.global_costmapSensor origin at (-15.30, 66.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 177.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 177.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618154 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618154 ms (missed cycles : 3).[0m ×2 + 7.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 7.38sWARNglobal_costmap.global_costmapSensor origin at (-14.42, 66.03) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.38sWARNglobal_costmap.global_costmapSensor origin at (-15.31, 66.11) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839817 ms (missed cycles : 3). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839817 ms (missed cycles : 3).[0m ×2 + 7.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 8.38sWARNglobal_costmap.global_costmapSensor origin at (-14.45, 65.84) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.38sWARNglobal_costmap.global_costmapSensor origin at (-15.35, 65.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 179.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 179.0 s (AMCL untrusted, spread=0.48); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191184 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191184 ms (missed cycles : 2).[0m ×2 + 9.38sWARNglobal_costmap.global_costmapSensor origin at (-14.45, 65.76) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 9.39sWARNglobal_costmap.global_costmapSensor origin at (-15.34, 65.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 9.63sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 9.73sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (5.29e-07 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073335 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073335 ms (missed cycles : 2).[0m ×2 + 10.07sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.11sINFOobjective_server_nodeFound path in 0 iterations (5.75e-07 s). ×2 + 10.34sWARNstate_estimatorOptimization exceeded the configured duration by 17486317ns + 10.35sINFOobjective_server_nodeFound path in 33 iterations (0.0324685 s). ×2 + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 181.2 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.60sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 181.2 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.74sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299917 ms (missed cycles : 4). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299917 ms (missed cycles : 4).[0m ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.04sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870634 ms (missed cycles : 3). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870634 ms (missed cycles : 3).[0m ×2 + 12.38sWARNglobal_costmap.global_costmapSensor origin at (-15.34, 65.89) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 183.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 183.4 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250355 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250355 ms (missed cycles : 3).[0m ×2 + 13.38sWARNglobal_costmap.global_costmapSensor origin at (-14.36, 65.75) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.38sWARNglobal_costmap.global_costmapSensor origin at (-15.25, 65.88) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 13.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707949 ms (missed cycles : 3). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707949 ms (missed cycles : 3).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 14.38sWARNglobal_costmap.global_costmapSensor origin at (-14.07, 65.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.38sWARNglobal_costmap.global_costmapSensor origin at (-14.96, 65.84) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 14.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 14.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.4 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.80sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.4 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576266 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576266 ms (missed cycles : 3).[0m ×2 + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 15.38sWARNglobal_costmap.global_costmapSensor origin at (-13.63, 65.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.38sWARNglobal_costmap.global_costmapSensor origin at (-14.52, 65.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 15.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 16.38sWARNglobal_costmap.global_costmapSensor origin at (-13.17, 65.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.38sWARNglobal_costmap.global_costmapSensor origin at (-14.06, 65.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381768 ms (missed cycles : 4). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381768 ms (missed cycles : 4).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 17.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 17.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 17.38sWARNglobal_costmap.global_costmapSensor origin at (-12.95, 65.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.38sWARNglobal_costmap.global_costmapSensor origin at (-13.83, 65.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034947 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034947 ms (missed cycles : 2).[0m ×2 + 18.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786589457.48933768 seconds ×3 + 18.38sWARNglobal_costmap.global_costmapSensor origin at (-12.87, 65.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.38sWARNglobal_costmap.global_costmapSensor origin at (-13.76, 65.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 18.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.486ms + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934408 ms (missed cycles : 3). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934408 ms (missed cycles : 3).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.338ms + 18.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589458.08691645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.65sINFOmove_groupClearing octomap...[0m ×2 + 18.65sINFOmove_groupOctomap cleared.[0m ×2 + 18.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.495ms + 19.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 19.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 19.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589458.81706047 seconds ×3 + 19.39sWARNglobal_costmap.global_costmapSensor origin at (-11.77, 65.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.39sWARNglobal_costmap.global_costmapSensor origin at (-12.66, 65.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 19.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 19.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.299ms + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309708 ms (missed cycles : 2). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309708 ms (missed cycles : 2).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.104ms + 19.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.604ms + 19.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.083ms + 19.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786589459.37851977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.858ms + 20.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.145ms + 20.22sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 4.447ms + 20.38sWARNglobal_costmap.global_costmapSensor origin at (-10.90, 65.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.38sWARNglobal_costmap.global_costmapSensor origin at (-11.79, 65.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 20.42sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.323ms + 20.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786589459.90867114 seconds ×3 + 20.52sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.625ms + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249534 ms (missed cycles : 4). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249534 ms (missed cycles : 4).[0m ×2 + 20.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.72sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 3.432ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 100 errors · 81 warnings · 431 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576266 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576266 ms (missed cycles : 3).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 0.24sWARNglobal_costmap.global_costmapSensor origin at (-13.63, 65.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.24sWARNglobal_costmap.global_costmapSensor origin at (-14.52, 65.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 1.24sWARNglobal_costmap.global_costmapSensor origin at (-13.17, 65.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.24sWARNglobal_costmap.global_costmapSensor origin at (-14.06, 65.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381768 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381768 ms (missed cycles : 4).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 1.85sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.85sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.24sWARNglobal_costmap.global_costmapSensor origin at (-12.95, 65.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.24sWARNglobal_costmap.global_costmapSensor origin at (-13.83, 65.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034947 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034947 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786589457.48933768 seconds ×3 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sWARNglobal_costmap.global_costmapSensor origin at (-12.87, 65.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.24sWARNglobal_costmap.global_costmapSensor origin at (-13.76, 65.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.486ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934408 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934408 ms (missed cycles : 3).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.338ms + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589458.08691645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.50sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms ×2 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.495ms + 4.05sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.05sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 4.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 4.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589458.81706047 seconds ×3 + 4.24sWARNglobal_costmap.global_costmapSensor origin at (-11.77, 65.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.24sWARNglobal_costmap.global_costmapSensor origin at (-12.66, 65.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.299ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309708 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309708 ms (missed cycles : 2).[0m ×2 + 4.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.104ms + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.604ms + 4.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.083ms + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786589459.37851977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.858ms + 4.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.145ms + 5.07sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 4.447ms + 5.24sWARNglobal_costmap.global_costmapSensor origin at (-10.90, 65.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.24sWARNglobal_costmap.global_costmapSensor origin at (-11.79, 65.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.27sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.323ms + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786589459.90867114 seconds ×3 + 5.37sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.625ms + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249534 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249534 ms (missed cycles : 4).[0m ×2 + 5.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.57sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 3.432ms + 5.77sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.699ms + 5.97sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.418ms + 6.05sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.8 s (AMCL untrusted, spread=1.04); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.24sWARNglobal_costmap.global_costmapSensor origin at (-10.27, 65.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.24sWARNglobal_costmap.global_costmapSensor origin at (-11.16, 65.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 6.40sWARNstate_estimatorOptimization exceeded the configured duration by 17845168ns + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228273 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228273 ms (missed cycles : 2).[0m ×2 + 6.61sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.8 s (AMCL untrusted, spread=1.04); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.79sINFOros2_control_nodeMuJoCo sim: 2.70% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.24sWARNglobal_costmap.global_costmapSensor origin at (-10.14, 65.26) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.24sWARNglobal_costmap.global_costmapSensor origin at (-11.03, 65.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645295 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645295 ms (missed cycles : 3).[0m ×2 + 8.24sWARNglobal_costmap.global_costmapSensor origin at (-10.13, 65.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 8.24sWARNglobal_costmap.global_costmapSensor origin at (-11.02, 65.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 8.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.0 s (AMCL untrusted, spread=0.91); map->odom is dead-reckoning and will drift until AMCL re-locks. + 8.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 194.0 s (AMCL untrusted, spread=0.91); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669557 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669557 ms (missed cycles : 3).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895696 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895696 ms (missed cycles : 3).[0m ×2 + 10.24sWARNglobal_costmap.global_costmapSensor origin at (-10.10, 65.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 10.24sWARNglobal_costmap.global_costmapSensor origin at (-10.99, 65.42) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 10.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.0 s (AMCL untrusted, spread=0.90); map->odom is dead-reckoning and will drift until AMCL re-locks. + 10.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 196.0 s (AMCL untrusted, spread=0.90); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854448 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854448 ms (missed cycles : 3).[0m ×2 + 11.61sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 11.68sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORweb_video_auth_proxy-38process has died [pid 14184, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.69sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 11.74sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORweb_bridge_auth_proxy-37process has died [pid 14181, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.75sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORforward_stereo_publisher.py-8process[forward_stereo_publisher.py-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORodom_qos_relay.py-7process[odom_qos_relay.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORamcl_odom_gate-6process[amcl_odom_gate-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.80sERRORslip_aware_odom-5process[slip_aware_odom-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.80sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.80sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.81sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.81sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.82sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466176 ms (missed cycles : 3). + 11.84sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 11.87sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 11.90sINFOvideo_server-36process has finished cleanly [pid 14161] ×2 + 11.90sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 11.93sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 11.96sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 11.99sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 12.03sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 12.06sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 12.09sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 12.12sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 12.12sINFOtf2_web_republisher_node-35process has finished cleanly [pid 14159] ×2 + 12.14sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 12.17sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 12.20sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 12.25sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1786589466.532 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.25sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 12.25sINFOcontroller_managerShutdown request received.... + 12.25sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.25sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.25sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.25sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.25sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.25sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.25sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.25sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.25sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.25sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.25sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.25sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.25sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.25sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.25sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.25sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.25sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.25sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.25sINFOcontroller_managerShutting down the controller manager. + 12.25sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.0 s (AMCL untrusted, spread=0.84); map->odom is dead-reckoning and will drift until AMCL re-locks. + 12.26sINFOui_teleop_bridge-33process has finished cleanly [pid 14156] ×2 + 12.28sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] ×2 + 12.29sINFOcomponent_container_mt-31process has finished cleanly [pid 14153] ×2 + 12.29sERRORmove_group-24process has died [pid 14106, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_r2z85600 --params-file /tmp/launch_params_sq_41f55 --params-file /tmp/launch_params_0_1nr34x --params-file /tmp/launch_params_ibs_y1fx --params-file /tmp/launch_params_h8spsdxb --params-file /tmp/launch_params_2bn9q68h']. ×2 + 12.31sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 12.32sINFOexecute_objective_bridge-32process has finished cleanly [pid 14155] ×2 + 12.34sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 12.37sINFOforward_stereo_publisher.py-8sending signal 'SIGTERM' to process[forward_stereo_publisher.py-8] ×2 + 12.40sINFOodom_qos_relay.py-7sending signal 'SIGTERM' to process[odom_qos_relay.py-7] ×2 + 12.43sINFOamcl_odom_gate-6sending signal 'SIGTERM' to process[amcl_odom_gate-6] ×2 + 12.45sINFOslip_aware_odom-5sending signal 'SIGTERM' to process[slip_aware_odom-5] ×2 + 12.48sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 12.51sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.54sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.54sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.54sINFOmap_serverDeactivating + 12.54sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.55sINFOmap_serverCleaning up + 12.55sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.55sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.56sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.56sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.56sINFOcontroller_serverDeactivating + 12.56sINFOlocal_costmap.local_costmapDeactivating + 12.57sINFOvideo_server2026/08/13 02:51:06 INF shutting down gracefully ×2 + 12.57sINFOvideo_server2026/08/13 02:51:06 INF [WebRTC] closing ×2 + 12.57sINFOvideo_server2026/08/13 02:51:06 INF [RTSP] closing ×2 + 12.57sINFOvideo_server2026/08/13 02:51:06 INF waiting for running hooks ×2 + 12.57sERRORamclThe bond connection to the lifecycle manager has been broken + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466176 ms (missed cycles : 3).[0m ×2 + 12.57sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.57sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.57sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.57sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.57sINFOobjective_server_node[0;m[0m[INFO] [2026-08-13 02:51:06.611] signal_handler(SIGINT/SIGTERM)[0m ×2 + 12.58sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.58sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.58sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.58sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 12.58sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.58sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.58sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.58sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.58sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.58sERRORmove_groupStack trace (most recent call last) in thread 14770: ×2 + 12.58sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.58sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f76c832bb63, in __clone ×2 + 12.58sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f76c829eb83, in ×2 + 12.58sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f76c8530db3, in ×2 + 12.58sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f76c8ca1637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.58sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f76c88c2620, in rclcpp::Rate::sleep() ×2 + 12.58sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f76c8804d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.58sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f76c87c6087, in ×2 + 12.58sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f76c84ff390, in __cxa_throw ×2 + 12.59sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f76c84e9a54, in std::terminate() ×2 + 12.59sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f76c84ff0d9, in ×2 + 12.59sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f76c84e9ff4, in ×2 + 12.59sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f76c822a8fe, in abort ×2 + 12.59sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f76c824727d, in raise ×2 + 12.59sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f76c82a0c0c, in pthread_kill ×2 + 12.59sERRORmove_groupAborted (Signal sent by tkill() 14106 0) ×2 + 12.59sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.59sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.59sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.59sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.59sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.59sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.59sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.59sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.59sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.59sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.59sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.59sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.59sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.59sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.59sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.59sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.59sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 198.0 s (AMCL untrusted, spread=0.84); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.60sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.60sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.60sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.60sINFOodom_qos_relay.pymain() ×2 + 12.60sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.60sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.60sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.60sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.60sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.60sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.60sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.60sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.60sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.60sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.60sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.60sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.60sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.60sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.60sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.60sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.60sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.61sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.62sINFOcontroller_serverCleaning up + 12.62sINFOlocal_costmap.local_costmapCleaning up + 12.67sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.67sINFOsmoother_serverDeactivating + 12.67sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.68sINFOsmoother_serverCleaning up + 12.69sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.69sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.69sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.69sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.69sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.69sINFOvelocity_smootherDeactivating + 12.69sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.69sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.69sINFOplanner_serverDeactivating + 12.69sINFOglobal_costmap.global_costmapDeactivating + 12.80sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.80sINFOwaypoint_followerDeactivating + 12.80sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.81sERRORcomponent_container_isolated-2process has died [pid 13999, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params__6xb8cp3 --params-file /tmp/launch_params_xbk67jrg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.91sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.91sINFObt_navigatorDeactivating + 12.91sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 13.03sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 13.03sINFObehavior_serverDeactivating + 13.03sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 13.12sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 14150] ×2 + 13.14sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 13.14sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 13.14sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 13.14sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 13.14sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 13.15sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.15sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 13.15sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 13.15sINFOvelocity_smootherCleaning up + 13.15sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 13.15sINFOwaypoint_followerCleaning up + 13.16sINFOmove_joint_resampler_node-27process has finished cleanly [pid 14146] ×2 + 13.18sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 13.18sINFObt_navigatorCleaning up + 13.23sINFOobjective_server_node[2026-08-13 02:51:07.812] [moveit_pro_license] [info] ×2 + 13.23sINFOobjective_server_node************************************************* ×4 + 13.23sINFOobjective_server_node* MoveIt Pro License ×2 + 13.23sINFOobjective_server_node* Application has successfully terminated ×2 + 13.23sINFOcomponent_container_mt-30process has finished cleanly [pid 14152] ×2 + 13.24sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.24sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.24sINFOwaypoint_manager_node-26process has finished cleanly [pid 14142] ×2 + 13.24sINFOparameter_manager_node-25process has finished cleanly [pid 14141] ×2 + 13.25sINFOplanner_serverCleaning up + 13.26sINFOglobal_costmap.global_costmapCleaning up + 13.27sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.27sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.30sINFOobjective_server_node_main-29process has finished cleanly [pid 14151] ×2 + 13.30sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 13.31sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.31sINFObehavior_serverCleaning up + 13.31sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.31sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.31sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.31sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.36sINFObt_navigatorCompleted Cleaning up + 13.36sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.36sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 14085] ×2 + 13.39sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 14006] ×2 + 13.41sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.41sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.41sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.41sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.41sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.41sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.41sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.41sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.46sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 14086] ×2 + 13.50sINFOforward_stereo_publisher.py-8process has finished cleanly [pid 14005] ×2 + 13.50sINFOslip_aware_odom-5process has finished cleanly [pid 14002] ×2 + 13.52sERRORodom_qos_relay.py-7process has died [pid 14004, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.55sINFOstatic_transform_publisher-3process has finished cleanly [pid 14000] ×2 + 13.69sERRORcomponent_container_isolated-1process has died [pid 13998, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params__6xb8cp3 --params-file /tmp/launch_params_vgfhhf3d -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.47sINFOamcl_odom_gate-6process has finished cleanly [pid 14003] ×2 + 14.52sINFOodom_world_drift-4process has finished cleanly [pid 14001] ×2 + 14.87sINFOweb_bridge-34process has finished cleanly [pid 14157] ×2 + 14.87sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 14.99sINFOros2_control_node-12process has finished cleanly [pid 14087] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 9 errors · 82 warnings · 128 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.475ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.796ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792419 ms (missed cycles : 4). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792419 ms (missed cycles : 4).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.897ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.822ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469018 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469018 ms (missed cycles : 4).[0m ×2 + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.4 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 68.4 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.465ms + 2.06sINFOjoint_trajectory_controllerGoal reached, success! + 2.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116276 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116276 ms (missed cycles : 4).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.745ms + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844726 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844726 ms (missed cycles : 3).[0m ×2 + 3.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 70.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.87sWARNobjective_server_nodeDIAG_TPF stamp=1786589339.265550718 target=world cloud_age=0.4520s tf_wait=0.0064s total=921600 finite=921600 IN_BOX=0 (in_x=0 in_y=0 in_z=73191) base=[-4.1201,12.8686,-0.0480] bbox_x=[4.972,3228.791] bbox_y=[-2848.153,-4.823] bbox_z=[0.007,1402.153] centroid=[37.804,-39.006,13.925][0m ×2 + 3.97sWARNobjective_server_nodeDIAG_CROP in_frame=world box_frame=world in_pts=921600 out_pts=0 box_dim=[5.000,15.000,0.200] min_corner=[-2.500,4.500,1.600] box2cloud_t=[0.0000,0.0000,0.0000] stamp=1786589339.265550000[0m ×2 + 3.99sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.99sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1786589339.84787178 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.14sWARNlocal_costmap.local_costmapSensor origin at (-9.84, 37.01) is out of map bounds (-9.50, 24.15) to (-4.53, 29.13). The costmap cannot raytrace for it. + 4.14sWARNlocal_costmap.local_costmapSensor origin at (-10.74, 36.98) is out of map bounds (-9.50, 24.15) to (-4.53, 29.13). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.068ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.879ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098442 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098442 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.931ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786589340.52796459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.802ms + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.533ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.914ms + 5.08sINFOobjective_server_nodeFound path in 0 iterations (5.74e-07 s). ×2 + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.497ms + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.756ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368499 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368499 ms (missed cycles : 3).[0m ×2 + 5.51sINFOros2_control_nodeMuJoCo sim: 2.38% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.6 s (AMCL untrusted, spread=1.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.58sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 72.6 s (AMCL untrusted, spread=1.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.810ms + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.608ms + 5.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.706ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.244ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.211ms + 6.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.805ms + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754619 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754619 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.631ms + 6.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.893ms + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.338ms + 6.90sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.90sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.343ms + 7.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.584ms + 7.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.494ms + 7.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.511ms + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564954 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564954 ms (missed cycles : 3).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.229ms + 7.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 74.8 s (AMCL untrusted, spread=3.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 74.8 s (AMCL untrusted, spread=3.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.285ms + 8.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.543ms + 8.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.760ms + 8.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.375ms + 8.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.148ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291607 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291607 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.983ms + 9.41sWARNstate_estimatorOptimization exceeded the configured duration by 5175941ns + 9.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.773ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077676 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077676 ms (missed cycles : 3).[0m ×2 + 9.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 76.8 s (AMCL untrusted, spread=2.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 76.8 s (AMCL untrusted, spread=2.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.227ms + 10.20sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 7.450ms + 10.50sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 4.678ms + 10.80sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 4.857ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690247 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690247 ms (missed cycles : 3).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 7.077ms + 11.40sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 5.330ms + 11.60sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 4.921ms + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193876 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193876 ms (missed cycles : 2).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.691ms + 11.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.0 s (AMCL untrusted, spread=2.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 79.0 s (AMCL untrusted, spread=2.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.054ms + 12.30sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 3.629ms + 12.60sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 4.294ms + 12.80sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.704ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248709 ms (missed cycles : 3). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248709 ms (missed cycles : 3).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.590ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.532ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.724ms + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.388ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983859 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983859 ms (missed cycles : 3).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.912ms + 14.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.2 s (AMCL untrusted, spread=1.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 14.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 81.2 s (AMCL untrusted, spread=1.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.885ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.807ms + 14.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOjoint_trajectory_controllerGot request to cancel goal + 14.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.88sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786589350.76524425 seconds ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838587 ms (missed cycles : 4). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838587 ms (missed cycles : 4).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.461ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.354ms + 15.48sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786589351.33505154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 3.261ms + 15.60sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 3.188ms + 15.80sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 4.022ms + 15.86sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472445 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472445 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.152ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.149ms + 16.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=1.05); map->odom is dead-reckoning and will drift until AMCL re-locks. + 16.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 83.4 s (AMCL untrusted, spread=1.05); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.886ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.535ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.499ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.534ms + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474822 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474822 ms (missed cycles : 3).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.196ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 51 warnings · 69 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.896ms + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.785ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms + 2.92sWARNstate_estimatorOptimization exceeded the configured duration by 10198830ns + 3.61sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.62sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786589270.51903152 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.643ms + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.01, 3.25) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 3.28) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.900ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.247ms + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786589271.09975982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.731ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.884ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.889ms + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.950ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.297ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.075ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.555ms + 6.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.352ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348632 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348632 ms (missed cycles : 3).[0m ×2 + 6.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=6.86); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=6.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 7.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.613ms + 7.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.325ms + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562656 ms (missed cycles : 3). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562656 ms (missed cycles : 3).[0m ×2 + 8.32sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786589275.17990279 seconds ×3 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844802 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844802 ms (missed cycles : 2).[0m ×2 + 9.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=6.24); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=6.24); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 9.91sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786589276.76680017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815752 ms (missed cycles : 3). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815752 ms (missed cycles : 3).[0m ×2 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (7.32e-07 s). ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686366 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686366 ms (missed cycles : 2).[0m ×2 + 11.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=5.92); map->odom is dead-reckoning and will drift until AMCL re-locks. + 11.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=5.92); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585358 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585358 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.6s | 6 errors · 51 warnings · 72 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.491ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.625ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.696ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467023 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467023 ms (missed cycles : 4).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.782ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.819ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.622ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.776ms + 1.59sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.0 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.59sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 110.0 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300107 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300107 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.065ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.698ms + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.378ms + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190864 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190864 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.682ms + 3.60sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.60sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285011 ms (missed cycles : 4). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285011 ms (missed cycles : 4).[0m ×2 + 3.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.2 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.78sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.2 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.08sINFOobjective_server_node[0;m[33m[WARN] [2026-08-13 02:49:41.334] DIAG_TPF stamp=1786589380.866086254 target=world cloud_age=0.4486s tf_wait=0.0081s total=921600 finite=921600 IN_BOX=0 (in_x=0 in_y=0 in_z=73388) base=[-4.1146,12.8809,-0.0480] bbox_x=[10.870,3361.197] bbox_y=[-2707.716,-18.425] bbox_z=[0.007,1415.227] centroid=[53.563,-57.376,16.829][0m ×2 + 4.16sWARNobjective_server_nodeDIAG_CROP in_frame=world box_frame=world in_pts=921600 out_pts=0 box_dim=[5.000,4.000,0.200] min_corner=[-2.500,10.500,1.600] box2cloud_t=[0.0000,0.0000,0.0000] stamp=1786589380.866086000[0m ×2 + 4.16sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 4.17sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 4.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1786589381.42523742 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 5.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 7.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4).[0m ×2 + 8.81sWARNstate_estimatorOptimization exceeded the configured duration by 472261ns + 8.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589386.08753657 seconds ×3 + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3).[0m ×2 + 9.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589386.66655183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 9.98sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.7s | 31 warnings · 57 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744549 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744549 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088255 ms (missed cycles : 2).[0m ×2 + 2.14sWARNstate_estimatorOptimization exceeded the configured duration by 32005740ns + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841229 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841229 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640371 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640371 ms (missed cycles : 4).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786589209.19651031 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 4.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786589209.77030993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (2.525e-05 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480814 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480814 ms (missed cycles : 3).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 7.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786589212.95045066 seconds ×3 + 8.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 8.36sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786589213.50887275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377546 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377546 ms (missed cycles : 3).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.605ms + 8.74sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055122 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055122 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 53 warnings · 66 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707949 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707949 ms (missed cycles : 3).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 0.47sWARNglobal_costmap.global_costmapSensor origin at (-14.07, 65.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.47sWARNglobal_costmap.global_costmapSensor origin at (-14.96, 65.84) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 0.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.4 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.4 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576266 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576266 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 1.47sWARNglobal_costmap.global_costmapSensor origin at (-13.63, 65.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.47sWARNglobal_costmap.global_costmapSensor origin at (-14.52, 65.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 2.47sWARNglobal_costmap.global_costmapSensor origin at (-13.17, 65.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.47sWARNglobal_costmap.global_costmapSensor origin at (-14.06, 65.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381768 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381768 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 3.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.47sWARNglobal_costmap.global_costmapSensor origin at (-12.95, 65.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.47sWARNglobal_costmap.global_costmapSensor origin at (-13.83, 65.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034947 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034947 ms (missed cycles : 2).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786589457.48933768 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.47sWARNglobal_costmap.global_costmapSensor origin at (-12.87, 65.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.47sWARNglobal_costmap.global_costmapSensor origin at (-13.76, 65.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.486ms + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934408 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934408 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.338ms + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589458.08691645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.74sINFOmove_groupClearing octomap...[0m ×2 + 4.74sINFOmove_groupOctomap cleared.[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.495ms + 5.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 5.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589458.81706047 seconds ×3 + 5.47sWARNglobal_costmap.global_costmapSensor origin at (-11.77, 65.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.47sWARNglobal_costmap.global_costmapSensor origin at (-12.66, 65.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.299ms + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309708 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309708 ms (missed cycles : 2).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.104ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.604ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.083ms + 6.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786589459.37851977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.858ms + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.145ms + 6.30sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 4.447ms + 6.47sWARNglobal_costmap.global_costmapSensor origin at (-10.90, 65.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.47sWARNglobal_costmap.global_costmapSensor origin at (-11.79, 65.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.50sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.323ms + 6.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786589459.90867114 seconds ×3 + 6.60sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.625ms + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249534 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249534 ms (missed cycles : 4).[0m ×2 + 6.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 3.432ms + 7.00sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.699ms + 7.20sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.418ms + 7.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.8 s (AMCL untrusted, spread=1.04); map->odom is dead-reckoning and will drift until AMCL re-locks. + 7.47sWARNglobal_costmap.global_costmapSensor origin at (-10.27, 65.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.47sWARNglobal_costmap.global_costmapSensor origin at (-11.16, 65.43) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 7.63sWARNstate_estimatorOptimization exceeded the configured duration by 17845168ns + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228273 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228273 ms (missed cycles : 2).[0m ×2 + 7.84sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 191.8 s (AMCL untrusted, spread=1.04); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 8.02sINFOros2_control_nodeMuJoCo sim: 2.70% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 25 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.58sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 3.89sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 5.17sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889810 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889810 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 22 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744549 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744549 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088255 ms (missed cycles : 2).[0m ×2 + 2.14sWARNstate_estimatorOptimization exceeded the configured duration by 32005740ns + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841229 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841229 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640371 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640371 ms (missed cycles : 4).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786589209.19651031 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 4.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786589209.77030993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (2.525e-05 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 22 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744549 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744549 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088255 ms (missed cycles : 2).[0m ×2 + 2.14sWARNstate_estimatorOptimization exceeded the configured duration by 32005740ns + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841229 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841229 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640371 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640371 ms (missed cycles : 4).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786589209.19651031 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 4.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786589209.77030993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (2.525e-05 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.896ms + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.785ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms + 2.92sWARNstate_estimatorOptimization exceeded the configured duration by 10198830ns + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786589270.51903152 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.643ms + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.01, 3.25) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 3.28) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.900ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.247ms + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786589271.09975982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.731ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.884ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.889ms + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.950ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.297ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.075ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.555ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.896ms + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.785ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms + 2.92sWARNstate_estimatorOptimization exceeded the configured duration by 10198830ns + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786589270.51903152 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.643ms + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.01, 3.25) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 3.28) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.900ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.247ms + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786589271.09975982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.731ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.884ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.889ms + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.950ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.297ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.075ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.555ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.896ms + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.785ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms + 2.92sWARNstate_estimatorOptimization exceeded the configured duration by 10198830ns + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786589270.51903152 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.643ms + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.01, 3.25) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 3.28) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.900ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.247ms + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786589271.09975982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.731ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.884ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.889ms + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.950ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.297ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.075ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.555ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.896ms + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.785ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms + 2.92sWARNstate_estimatorOptimization exceeded the configured duration by 10198830ns + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786589270.51903152 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.643ms + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.01, 3.25) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 3.28) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.900ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.247ms + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786589271.09975982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.731ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.884ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.889ms + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.950ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.297ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.075ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.555ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.896ms + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.18sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963623 ms (missed cycles : 2).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915495 ms (missed cycles : 5).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.785ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862024 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.588ms + 2.92sWARNstate_estimatorOptimization exceeded the configured duration by 10198830ns + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786589270.51903152 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081550 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.643ms + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.01, 3.25) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 3.28) is out of map bounds (-5.15, 9.40) to (-0.17, 14.37). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.900ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.247ms + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786589271.09975982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.731ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.884ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 9.889ms + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393143 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.950ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.297ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.075ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.786ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492360 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.555ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 33 warnings · 57 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.614ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.796ms + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.412ms + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.879ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.688ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.367ms + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.444ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5).[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.113ms + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786589307.65696025 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786589308.22765589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 4.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.644ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.327ms + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.514ms + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.530ms + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.92sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.489ms + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 33 warnings · 57 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.614ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.796ms + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.412ms + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.879ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.688ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.367ms + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.444ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5).[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.113ms + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786589307.65696025 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786589308.22765589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 4.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.644ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.327ms + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.514ms + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.530ms + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.92sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.489ms + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 33 warnings · 57 info |
+ 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 34.8 s (AMCL untrusted, spread=0.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.614ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794050 ms (missed cycles : 2).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.796ms + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.412ms + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.879ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653219 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.603ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks. + 2.00sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 36.8 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.688ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788153 ms (missed cycles : 5).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.367ms + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.444ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756915 ms (missed cycles : 5).[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.113ms + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786589307.65696025 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks. + 4.20sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.0 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321389 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786589308.22765589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.297ms + 4.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 5.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.644ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.327ms + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482423 ms (missed cycles : 3).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.514ms + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.027ms + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks. + 6.40sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.2 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.346ms + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339575 ms (missed cycles : 4).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.530ms + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.92sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.489ms + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 31 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 0.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 0.58sINFOjoint_trajectory_controllerReceived new action goal + 0.58sINFOjoint_trajectory_controllerAccepted new action goal + 0.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4).[0m ×2 + 4.21sWARNstate_estimatorOptimization exceeded the configured duration by 472261ns + 4.21sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589386.08753657 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589386.66655183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 31 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 0.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 0.58sINFOjoint_trajectory_controllerReceived new action goal + 0.58sINFOjoint_trajectory_controllerAccepted new action goal + 0.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4).[0m ×2 + 4.21sWARNstate_estimatorOptimization exceeded the configured duration by 472261ns + 4.21sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589386.08753657 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589386.66655183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 31 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 0.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 0.58sINFOjoint_trajectory_controllerReceived new action goal + 0.58sINFOjoint_trajectory_controllerAccepted new action goal + 0.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4).[0m ×2 + 4.21sWARNstate_estimatorOptimization exceeded the configured duration by 472261ns + 4.21sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589386.08753657 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589386.66655183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 31 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 0.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 0.58sINFOjoint_trajectory_controllerReceived new action goal + 0.58sINFOjoint_trajectory_controllerAccepted new action goal + 0.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4).[0m ×2 + 4.21sWARNstate_estimatorOptimization exceeded the configured duration by 472261ns + 4.21sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589386.08753657 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589386.66655183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 31 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 0.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 0.58sINFOjoint_trajectory_controllerReceived new action goal + 0.58sINFOjoint_trajectory_controllerAccepted new action goal + 0.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4).[0m ×2 + 4.21sWARNstate_estimatorOptimization exceeded the configured duration by 472261ns + 4.21sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589386.08753657 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589386.66655183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 31 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 0.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 0.58sINFOjoint_trajectory_controllerReceived new action goal + 0.58sINFOjoint_trajectory_controllerAccepted new action goal + 0.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4).[0m ×2 + 4.21sWARNstate_estimatorOptimization exceeded the configured duration by 472261ns + 4.21sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589386.08753657 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589386.66655183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 31 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.950ms + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836857 ms (missed cycles : 5).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589382.03735447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 0.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 0.58sINFOjoint_trajectory_controllerReceived new action goal + 0.58sINFOjoint_trajectory_controllerAccepted new action goal + 0.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.247ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837772 ms (missed cycles : 3).[0m ×2 + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks. + 1.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.970ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315815 ms (missed cycles : 4).[0m ×2 + 4.21sWARNstate_estimatorOptimization exceeded the configured duration by 472261ns + 4.21sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589386.08753657 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285856 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589386.66655183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.38sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.4 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106292 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597883 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 44 warnings · 61 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707949 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707949 ms (missed cycles : 3).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 0.47sWARNglobal_costmap.global_costmapSensor origin at (-14.07, 65.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.47sWARNglobal_costmap.global_costmapSensor origin at (-14.96, 65.84) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 0.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.4 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks. + 0.88sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 185.4 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576266 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576266 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 1.47sWARNglobal_costmap.global_costmapSensor origin at (-13.63, 65.64) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.47sWARNglobal_costmap.global_costmapSensor origin at (-14.52, 65.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.918ms + 2.47sWARNglobal_costmap.global_costmapSensor origin at (-13.17, 65.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.47sWARNglobal_costmap.global_costmapSensor origin at (-14.06, 65.73) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381768 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381768 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 3.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks. + 3.08sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 187.6 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 3.47sWARNglobal_costmap.global_costmapSensor origin at (-12.95, 65.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.47sWARNglobal_costmap.global_costmapSensor origin at (-13.83, 65.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034947 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034947 ms (missed cycles : 2).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786589457.48933768 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.47sWARNglobal_costmap.global_costmapSensor origin at (-12.87, 65.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.47sWARNglobal_costmap.global_costmapSensor origin at (-13.76, 65.69) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.486ms + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934408 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934408 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.338ms + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589458.08691645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.74sINFOmove_groupClearing octomap...[0m ×2 + 4.74sINFOmove_groupOctomap cleared.[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.495ms + 5.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks. + 5.28sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 189.8 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 5.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589458.81706047 seconds ×3 + 5.47sWARNglobal_costmap.global_costmapSensor origin at (-11.77, 65.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.47sWARNglobal_costmap.global_costmapSensor origin at (-12.66, 65.54) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.299ms + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309708 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309708 ms (missed cycles : 2).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.104ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.604ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.083ms + 6.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786589459.37851977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.858ms + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.145ms + 6.30sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 4.447ms + 6.47sWARNglobal_costmap.global_costmapSensor origin at (-10.90, 65.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.47sWARNglobal_costmap.global_costmapSensor origin at (-11.79, 65.45) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.50sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.323ms + 6.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786589459.90867114 seconds ×3 + 6.60sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 3.625ms + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249534 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249534 ms (missed cycles : 4).[0m ×2 + 6.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 3.432ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 57 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786589209.19651031 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204506 ms (missed cycles : 2).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.091ms + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786589209.77030993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369390 ms (missed cycles : 3).[0m ×2 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.525e-05 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.67sINFOjoint_trajectory_controllerReceived new action goal + 1.67sINFOjoint_trajectory_controllerAccepted new action goal + 1.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158085 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.417ms + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480814 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480814 ms (missed cycles : 3).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 3.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786589212.95045066 seconds ×3 + 4.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786589213.50887275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377546 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377546 ms (missed cycles : 3).[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.605ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055122 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055122 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 33.2s | 63 errors · 820 warnings · 1938 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-13-02-39-45-125399-f1137ee59fe2-9703 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 14.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 14.36sINFOros2_control_node-12process started with pid [9842] + 14.36sINFOmove_group-24process started with pid [9854] + 14.36sINFOparameter_manager_node-25process started with pid [9899] + 14.36sINFOwaypoint_manager_node-26process started with pid [9919] + 14.39sINFOmove_joint_resampler_node-27process started with pid [9920] + 14.39sINFOmove_end_effector_resampler_node-28process started with pid [9921] + 14.39sINFOobjective_server_node_main-29process started with pid [9922] + 14.39sINFOcomponent_container_mt-30process started with pid [9923] + 14.39sINFOcomponent_container_mt-31process started with pid [9924] + 14.39sINFOexecute_objective_bridge-32process started with pid [9926] + 14.39sINFOui_teleop_bridge-33process started with pid [9927] + 14.39sINFOweb_bridge-34process started with pid [9928] + 14.39sINFOtf2_web_republisher_node-35process started with pid [9929] + 14.39sINFOvideo_server-36process started with pid [9930] + 14.39sINFOweb_bridge_auth_proxy-37process started with pid [9931] + 14.39sINFOweb_video_auth_proxy-38process started with pid [9932] + 14.40sINFOcomponent_container_isolated-1process started with pid [9753] + 14.40sINFOcomponent_container_isolated-2process started with pid [9754] + 14.40sINFOstatic_transform_publisher-3process started with pid [9755] + 14.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 14.45sINFOodom_world_drift-4process started with pid [9756] + 14.45sINFOslip_aware_odom-5process started with pid [9757] + 14.45sINFOamcl_odom_gate-6process started with pid [9758] + 14.45sINFOodom_qos_relay.py-7process started with pid [9759] + 14.45sINFOforward_stereo_publisher.py-8process started with pid [9760] + 14.45sINFOscan_to_scan_filter_chain-9process started with pid [9761] + 14.45sINFOscan_to_scan_filter_chain-10process started with pid [9840] + 14.45sINFOfixed_lag_smoother_node-11process started with pid [9841] + 14.45sINFOros2-13process started with pid [9843] + 14.45sINFOros2-14process started with pid [9844] + 14.45sINFOros2-15process started with pid [9845] + 14.45sINFOros2-16process started with pid [9846] + 14.45sINFOros2-17process started with pid [9847] + 14.45sINFOros2-18process started with pid [9848] + 14.45sINFOros2-19process started with pid [9849] + 14.45sINFOros2-20process started with pid [9850] + 14.45sINFOros2-21process started with pid [9851] + 14.46sINFOros2-22process started with pid [9852] + 14.46sINFOros2-23process started with pid [9853] + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 14.58sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 14.58sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 14.58sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 14.58sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 14.58sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 14.59sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast.[0m ×13 + 14.60sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 14.60sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 14.60sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 14.60sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 14.60sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 14.60sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804934 ms (missed cycles : 2).[0m + 14.61sWARNslip_aware_odomslip_aware_odom: active source has been silent for 0.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×3 + 14.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 14.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 14.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 14.63sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 14.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 14.67sINFOcomponent_container_mtRobot initialized[0m ×3 + 14.68sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 14.69sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 14.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 14.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 14.72sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 14.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 14.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 14.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 14.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 14.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 15.00sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 15.01sINFOmove_groupLoaded robot model in 0.41803 seconds[0m + 15.02sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 15.02sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 15.05sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 15.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 15.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270815 ms (missed cycles : 4).[0m + 15.43sINFOvideo_server2026/08/13 02:40:04 INF MediaMTX v1.19.3, linux, amd64 + 15.43sINFOvideo_server2026/08/13 02:40:04 INF configuration loaded from /tmp/moveit-webrtc-ax4l03v9/mediamtx.yml + 15.43sINFOvideo_server2026/08/13 02:40:04 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 15.44sINFOvideo_server2026/08/13 02:40:04 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 15.74sINFOwaypoint_manager_nodeLoaded robot model in 0.365051 seconds[0m + 15.75sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.75sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.21sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.22sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.22sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.25sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.25sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066657 ms (missed cycles : 2).[0m + 16.50sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m + 16.68sINFOmove_group[2026-08-13 02:40:05.353] [moveit_pro_license] [info] + 16.68sINFOmove_group************************************************* ×6 + 16.68sINFOmove_group* MoveIt Pro License ×3 + 16.68sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.92sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 16.92sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 17.22sINFOwaypoint_manager_node[2026-08-13 02:40:05.891] [moveit_pro_license] [info] + 17.22sINFOwaypoint_manager_node************************************************* ×6 + 17.22sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 17.22sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.23sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 17.45sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 17.45sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 17.46sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 17.46sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.46sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 17.47sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 17.47sINFOmove_groupStarting planning scene monitor[0m ×3 + 17.47sINFOmove_groupListening to '/planning_scene'[0m ×3 + 17.48sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 17.49sINFOmove_groupListening to 'collision_object'[0m ×3 + 17.49sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 17.73sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 17.73sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.74sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 18.15sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 18.15sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 18.15sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 18.15sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 18.15sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 18.15sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 18.15sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 18.15sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 18.15sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 18.15sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 18.15sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 18.15sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 18.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 18.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 18.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 18.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 18.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 18.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 18.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 18.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732793 ms (missed cycles : 2).[0m + 18.18sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 18.23sINFOobjective_server_node[2026-08-13 02:40:06.901] [moveit_pro_license] [info] + 18.23sINFOobjective_server_node************************************************* ×8 + 18.23sINFOobjective_server_node* MoveIt Pro License ×4 + 18.23sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.24sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.24sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 18.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.33sINFOobjective_server_nodeLoaded robot model in 0.0396793 seconds[0m + 18.33sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 18.33sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.35sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 18.35sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.36sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.36sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 18.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 18.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.42sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 18.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 18.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 18.48sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 18.49sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 18.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 18.50sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 18.50sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 18.50sWARNslip_aware_odomslip_aware_odom: active source has been silent for 4.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×3 + 18.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.61sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 18.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.65sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 18.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.90sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.98sINFOcomponent_container_mtLoaded robot model in 0.366881 seconds[0m + 18.98sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 18.98sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.99sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 18.99sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 19.02sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 19.02sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 19.02sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 19.02sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 19.02sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 19.02sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 19.02sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 19.02sINFOros2_control_node[2026-08-13 02:40:07.693] [warning] No force/torque sensor configured. The VFC will ignore force references. + 19.03sINFOros2_control_node[2026-08-13 02:40:07.696] [info] Controller state will be published at 10 Hz. + 19.03sINFOros2_control_node[2026-08-13 02:40:07.698] [info] VelocityForceController 'on_configure' succeeded. + 19.11sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 19.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035771 ms (missed cycles : 2).[0m + 19.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 19.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 19.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 19.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 19.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 19.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sINFOros2-21process has finished cleanly [pid 9851] + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.75sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 19.75sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 19.76sINFOcomponent_container_mt[2026-08-13 02:40:08.427] [moveit_pro_license] [info] + 19.76sINFOcomponent_container_mt************************************************* ×6 + 19.76sINFOcomponent_container_mt* MoveIt Pro License ×3 + 19.76sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 19.79sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 19.79sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 19.79sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 19.79sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 19.79sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 19.80sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 19.80sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 19.84sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 19.91sINFOmove_group ×12 + 19.91sINFOmove_group******************************************************** ×6 + 19.91sINFOmove_group* MoveGroup using: ×3 + 19.91sINFOmove_group* - apply_planning_scene_service ×3 + 19.91sINFOmove_group* - clear_octomap_service ×3 + 19.91sINFOmove_group* - get_group_urdf ×3 + 19.91sINFOmove_group* - load_geometry_from_file ×3 + 19.91sINFOmove_group* - get_planning_scene_service ×3 + 19.91sINFOmove_group* - kinematics_service ×3 + 19.91sINFOmove_group* - save_geometry_to_file ×3 + 19.91sINFOmove_group* - GetPlanningGroups ×3 + 19.91sINFOmove_group* - URDFPlanningSceneCapability ×3 + 19.91sINFOmove_group[0m ×3 + 19.91sINFOmove_group[92mYou can start planning now![0m ×3 + 19.91sINFOros2_control_node[2026-08-13 02:40:08.584] [warning] No force/torque sensor configured. The VFC will ignore force references. + 19.92sINFOros2_control_node[2026-08-13 02:40:08.586] [info] Controller state will be published at 10 Hz. + 19.92sINFOros2_control_node[2026-08-13 02:40:08.588] [info] VelocityForceController 'on_configure' succeeded. + 19.92sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 20.10sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 20.11sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 20.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 20.11sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 20.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 20.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 20.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 20.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484027 ms (missed cycles : 3).[0m + 20.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 20.31sINFOros2-20process has finished cleanly [pid 9850] + 20.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 20.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 20.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 20.52sWARNslip_aware_odomslip_aware_odom: active source has been silent for 6.54s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×3 + 20.76sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 20.85sINFOros2_control_node[2026-08-13 02:40:09.523] [info] Controller state will be published at 20 Hz. + 20.85sINFOros2_control_node[2026-08-13 02:40:09.524] [info] JointVelocityController 'on_configure' succeeded. + 21.20sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 21.20sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 21.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 21.24sINFOros2-22process has finished cleanly [pid 9852] + 21.25sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 21.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 21.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 21.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 21.27sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 21.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311707 ms (missed cycles : 2).[0m + 21.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 21.60sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 21.61sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 21.64sINFOros2-14process has finished cleanly [pid 9844] + 21.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 21.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 21.71sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 21.72sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 21.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 21.72sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 21.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 21.72sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 22.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 22.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 22.04sINFOros2-19process has finished cleanly [pid 9849] + 22.06sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 22.06sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766131 ms (missed cycles : 2).[0m + 22.52sWARNslip_aware_odomslip_aware_odom: active source has been silent for 8.54s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m + 22.53sINFOros2_control_node[2026-08-13 02:40:11.197] [info] Controller state will be published at 20 Hz. + 22.53sINFOros2_control_node[2026-08-13 02:40:11.198] [info] JointVelocityController 'on_configure' succeeded. + 22.89sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 22.89sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 22.90sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 22.91sINFOros2-23process has finished cleanly [pid 9853] + 22.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 22.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 22.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 22.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 22.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 23.00sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 23.34sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 23.34sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 23.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 23.35sINFOros2-17process has finished cleanly [pid 9847] + 23.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 23.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 23.41sINFOros2_control_nodeconfigure successful[0m ×9 + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852725 ms (missed cycles : 2).[0m + 23.75sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 23.75sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 23.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 23.78sINFOros2-18process has finished cleanly [pid 9848] + 23.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 23.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 23.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 23.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 23.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 24.18sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 24.18sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 24.18sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 24.21sINFOros2-15process has finished cleanly [pid 9845] + 24.25sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 24.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 24.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 24.26sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103263 ms (missed cycles : 3).[0m + 24.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 24.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 24.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_km9qqhqb --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xdvowbnd --params-file /tmp/launch_params_p5u6w97r [0m + 24.64sINFOros2-16process has finished cleanly [pid 9846] + 24.73sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 24.74sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 24.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 24.77sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 25.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 25.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 25.12sINFOros2-13process has finished cleanly [pid 9843] + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774151 ms (missed cycles : 3).[0m + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637742 ms (missed cycles : 3).[0m + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928004 ms (missed cycles : 2).[0m + 28.19sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677566 ms (missed cycles : 3).[0m + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179652 ms (missed cycles : 2).[0m + 30.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588818.86658382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.20sINFOmove_groupClearing octomap...[0m ×4 + 30.20sINFOmove_groupOctomap cleared.[0m ×4 + 30.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588818.87683368 seconds + 30.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588819.43853331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588819.45056057 seconds + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350455 ms (missed cycles : 3).[0m + 31.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588820.01872849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 31.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588820.16931796 seconds + 32.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588820.75836182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 32.10sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 32.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 32.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 32.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 32.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 32.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 32.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 32.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612843 ms (missed cycles : 3).[0m + 32.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588820.81851578 seconds + 32.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786588821.37510419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 32.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 32.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 32.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 32.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351568 ms (missed cycles : 2).[0m + 33.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 33.78sINFOobjective_server_nodePlanning for 177 path waypoints. + 34.08sINFOros2_control_nodeReceived new action goal[0m ×14 + 34.08sINFOros2_control_nodeAccepted new action goal[0m ×14 + 34.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877432 ms (missed cycles : 2).[0m + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948105 ms (missed cycles : 3).[0m + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236966 ms (missed cycles : 4).[0m + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276840 ms (missed cycles : 3).[0m + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421587 ms (missed cycles : 3).[0m + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123691 ms (missed cycles : 2).[0m + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287597 ms (missed cycles : 4).[0m + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812214 ms (missed cycles : 3).[0m + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649452 ms (missed cycles : 3).[0m + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443707 ms (missed cycles : 3).[0m + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362966 ms (missed cycles : 3).[0m + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183205 ms (missed cycles : 2).[0m + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206291 ms (missed cycles : 3).[0m + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939006 ms (missed cycles : 3).[0m + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890415 ms (missed cycles : 3).[0m + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727992 ms (missed cycles : 2).[0m + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564388 ms (missed cycles : 2).[0m + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896802 ms (missed cycles : 3).[0m + 53.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430652 ms (missed cycles : 3).[0m + 54.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360732 ms (missed cycles : 3).[0m + 55.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626601 ms (missed cycles : 3).[0m + 56.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127842 ms (missed cycles : 2).[0m + 57.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779298 ms (missed cycles : 2).[0m + 58.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792032 ms (missed cycles : 2).[0m + 59.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135695 ms (missed cycles : 2).[0m + 60.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606537 ms (missed cycles : 2).[0m + 62.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749189 ms (missed cycles : 3).[0m + 63.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159597 ms (missed cycles : 3).[0m + 64.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456438 ms (missed cycles : 3).[0m + 65.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379499 ms (missed cycles : 3).[0m + 66.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207007 ms (missed cycles : 2).[0m + 67.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317772 ms (missed cycles : 2).[0m + 68.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750656 ms (missed cycles : 2).[0m + 69.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432247 ms (missed cycles : 3).[0m + 70.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260872 ms (missed cycles : 2).[0m + 71.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774275 ms (missed cycles : 2).[0m + 72.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091658 ms (missed cycles : 2).[0m + 73.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640539 ms (missed cycles : 3).[0m + 74.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204252 ms (missed cycles : 4).[0m + 75.64sINFOros2_control_nodeGoal reached, success![0m ×13 + 75.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786588864.35603714 seconds + 75.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643157 ms (missed cycles : 3).[0m + 76.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786588864.91723752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084892 ms (missed cycles : 4).[0m + 77.32sINFOobjective_server_nodeFound path in 0 iterations (2.3794e-05 s). + 77.32sINFOobjective_server_nodePath shortcutter: [X____X] + 77.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 78.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168235 ms (missed cycles : 4).[0m + 79.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177447 ms (missed cycles : 4).[0m + 79.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786588868.12739801 seconds + 80.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786588868.70725846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 80.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481361 ms (missed cycles : 2).[0m + 80.45sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). + 81.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024543 ms (missed cycles : 3).[0m + 82.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882312 ms (missed cycles : 2).[0m + 82.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 83.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780217 ms (missed cycles : 2).[0m + 84.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232853 ms (missed cycles : 2).[0m + 85.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021035 ms (missed cycles : 3).[0m + 86.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886065 ms (missed cycles : 3).[0m + 87.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804462 ms (missed cycles : 3).[0m + 88.20sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m + 88.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840672 ms (missed cycles : 4).[0m + 89.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944155 ms (missed cycles : 2).[0m + 90.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513489 ms (missed cycles : 3).[0m + 91.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528277 ms (missed cycles : 3).[0m + 92.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886133 ms (missed cycles : 5).[0m + 93.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390516 ms (missed cycles : 2).[0m + 94.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.981132 ms (missed cycles : 6).[0m + 95.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703095 ms (missed cycles : 3).[0m + 96.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864626 ms (missed cycles : 3).[0m + 97.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456652 ms (missed cycles : 4).[0m + 99.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771859 ms (missed cycles : 2).[0m +100.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088512 ms (missed cycles : 4).[0m +101.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361319 ms (missed cycles : 3).[0m +102.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790591 ms (missed cycles : 2).[0m +103.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673954 ms (missed cycles : 2).[0m +104.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180126 ms (missed cycles : 4).[0m +105.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970866 ms (missed cycles : 4).[0m +106.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802576 ms (missed cycles : 3).[0m +107.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684638 ms (missed cycles : 2).[0m +108.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155937 ms (missed cycles : 4).[0m +109.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672870 ms (missed cycles : 3).[0m +110.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031280 ms (missed cycles : 2).[0m +111.58sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +111.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438208 ms (missed cycles : 4).[0m +112.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318729 ms (missed cycles : 3).[0m +114.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106733 ms (missed cycles : 2).[0m +115.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286914 ms (missed cycles : 5).[0m +116.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798136 ms (missed cycles : 3).[0m +117.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211327 ms (missed cycles : 4).[0m +118.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611683 ms (missed cycles : 3).[0m +119.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492988 ms (missed cycles : 4).[0m +120.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554002 ms (missed cycles : 3).[0m +121.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292911 ms (missed cycles : 4).[0m +122.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528784 ms (missed cycles : 3).[0m +123.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +123.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735756 ms (missed cycles : 4).[0m +124.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887691 ms (missed cycles : 3).[0m +125.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.16); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +125.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331224 ms (missed cycles : 4).[0m +126.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913429 ms (missed cycles : 5).[0m +127.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219258 ms (missed cycles : 4).[0m +128.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412775 ms (missed cycles : 4).[0m +129.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498658 ms (missed cycles : 3).[0m +130.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503658 ms (missed cycles : 4).[0m +131.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +132.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693309 ms (missed cycles : 3).[0m +133.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167604 ms (missed cycles : 2).[0m +133.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.17); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +134.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412011 ms (missed cycles : 5).[0m +135.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324899 ms (missed cycles : 2).[0m +136.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371727 ms (missed cycles : 4).[0m +137.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786588925.84783268 seconds +137.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615011 ms (missed cycles : 3).[0m +137.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786588926.42315745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +138.12sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). +138.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +138.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836555 ms (missed cycles : 2).[0m +139.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587803 ms (missed cycles : 3).[0m +140.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205337 ms (missed cycles : 4).[0m +140.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +141.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356142 ms (missed cycles : 3).[0m +141.87sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786588930.54332614 seconds +142.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491355 ms (missed cycles : 3).[0m +142.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.0 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +143.46sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786588932.13201571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +143.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759998 ms (missed cycles : 3).[0m +143.85sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). +144.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738508 ms (missed cycles : 3).[0m +144.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.2 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +145.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289550 ms (missed cycles : 3).[0m +145.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +146.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133678 ms (missed cycles : 3).[0m +147.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835494 ms (missed cycles : 2).[0m +148.20sINFOros2_control_nodeMuJoCo sim: 2.84% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +148.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963603 ms (missed cycles : 3).[0m +150.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246417 ms (missed cycles : 2).[0m +151.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372548 ms (missed cycles : 3).[0m +152.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778716 ms (missed cycles : 3).[0m +153.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737258 ms (missed cycles : 3).[0m +154.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846229 ms (missed cycles : 4).[0m +155.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980665 ms (missed cycles : 2).[0m +156.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756525 ms (missed cycles : 2).[0m +157.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477788 ms (missed cycles : 3).[0m +158.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.0 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +158.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003800 ms (missed cycles : 2).[0m +159.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005795 ms (missed cycles : 4).[0m +160.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.41); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +160.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830083 ms (missed cycles : 3).[0m +161.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549924 ms (missed cycles : 4).[0m +162.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162752 ms (missed cycles : 4).[0m +163.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488589 ms (missed cycles : 4).[0m +164.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608368 ms (missed cycles : 4).[0m +166.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133359 ms (missed cycles : 3).[0m +166.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 5.2 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +167.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957559 ms (missed cycles : 3).[0m +168.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144712 ms (missed cycles : 4).[0m +168.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 7.2 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +169.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309736 ms (missed cycles : 4).[0m +170.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905788 ms (missed cycles : 3).[0m +170.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 9.4 s (AMCL untrusted, spread=0.31); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +171.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054663 ms (missed cycles : 2).[0m +172.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097899 ms (missed cycles : 4).[0m +172.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 11.4 s (AMCL untrusted, spread=0.39); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +173.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944934 ms (missed cycles : 3).[0m +174.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716845 ms (missed cycles : 3).[0m +174.47sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786588963.14224815 seconds +175.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786588963.71098733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +175.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 13.6 s (AMCL untrusted, spread=1.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +175.47sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). +175.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977101 ms (missed cycles : 3).[0m +176.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960076 ms (missed cycles : 2).[0m +177.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 15.8 s (AMCL untrusted, spread=12.27); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +177.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×3 +177.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731722 ms (missed cycles : 3).[0m +178.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118343 ms (missed cycles : 2).[0m +179.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 18.0 s (AMCL untrusted, spread=20.62); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +179.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970791 ms (missed cycles : 4).[0m +180.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273181 ms (missed cycles : 4).[0m +181.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 20.2 s (AMCL untrusted, spread=20.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +181.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580218 ms (missed cycles : 3).[0m +182.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731014 ms (missed cycles : 2).[0m +183.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 22.2 s (AMCL untrusted, spread=13.79); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +184.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507138 ms (missed cycles : 3).[0m +185.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589227 ms (missed cycles : 3).[0m +185.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 24.4 s (AMCL untrusted, spread=7.70); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +186.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311395 ms (missed cycles : 3).[0m +187.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837875 ms (missed cycles : 4).[0m +188.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 26.6 s (AMCL untrusted, spread=4.75); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +188.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148985 ms (missed cycles : 2).[0m +189.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044387 ms (missed cycles : 4).[0m +190.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 28.6 s (AMCL untrusted, spread=1.80); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +190.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140310 ms (missed cycles : 4).[0m +191.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801803 ms (missed cycles : 3).[0m +192.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 30.8 s (AMCL untrusted, spread=1.77); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +192.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162780 ms (missed cycles : 4).[0m +193.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550480 ms (missed cycles : 4).[0m +194.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254400 ms (missed cycles : 3).[0m +194.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 33.0 s (AMCL untrusted, spread=0.19); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +195.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201929 ms (missed cycles : 3).[0m +196.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 35.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +196.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629199 ms (missed cycles : 4).[0m +197.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988166 ms (missed cycles : 2).[0m +198.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637431 ms (missed cycles : 4).[0m +198.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 37.2 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +199.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261830 ms (missed cycles : 2).[0m +200.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283100 ms (missed cycles : 5).[0m +200.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 39.4 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +201.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651325 ms (missed cycles : 4).[0m +202.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283245 ms (missed cycles : 2).[0m +203.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 41.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +203.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.330637 ms (missed cycles : 5).[0m +205.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309318 ms (missed cycles : 3).[0m +205.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 43.8 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +206.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533949 ms (missed cycles : 4).[0m +206.08sWARNobjective_server_nodeDIAG_TPF stamp=1786588994.354984433 target=world cloud_age=0.3854s tf_wait=0.0066s total=921600 finite=921600 IN_BOX=0 (in_x=0 in_y=0 in_z=73417) base=[-4.1130,12.8858,-0.0480] bbox_x=[4.731,3888.096] bbox_y=[-1754.859,-4.624] bbox_z=[0.007,1423.832] centroid=[60.462,-33.129,18.276][0m +206.19sWARNobjective_server_nodeDIAG_CROP in_frame=world box_frame=world in_pts=921600 out_pts=0 box_dim=[5.000,15.000,0.200] min_corner=[-2.500,4.500,1.600] box2cloud_t=[0.0000,0.0000,0.0000] stamp=1786588994.354984000[0m +206.20sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 +206.21sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +206.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1786588994.88117909 seconds +206.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786588995.57327795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +207.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953467 ms (missed cycles : 3).[0m +207.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 45.8 s (AMCL untrusted, spread=2.18); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +207.37sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). +208.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495838 ms (missed cycles : 3).[0m +208.20sINFOros2_control_nodeMuJoCo sim: 2.80% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +209.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037341 ms (missed cycles : 2).[0m +209.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 48.0 s (AMCL untrusted, spread=1.98); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +210.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962609 ms (missed cycles : 4).[0m +211.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143832 ms (missed cycles : 3).[0m +211.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 50.2 s (AMCL untrusted, spread=2.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +212.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325357 ms (missed cycles : 4).[0m +213.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929194 ms (missed cycles : 2).[0m +213.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 52.2 s (AMCL untrusted, spread=2.09); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +214.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569428 ms (missed cycles : 4).[0m +215.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312854 ms (missed cycles : 2).[0m +215.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 54.4 s (AMCL untrusted, spread=1.76); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +216.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160992 ms (missed cycles : 3).[0m +217.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +217.02sINFOros2_control_nodeGot request to cancel goal[0m +217.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +217.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786589005.71548104 seconds +217.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786589006.27338052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +217.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798776 ms (missed cycles : 3).[0m +217.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 56.4 s (AMCL untrusted, spread=2.01); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +218.04sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). +218.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810493 ms (missed cycles : 3).[0m +220.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942171 ms (missed cycles : 2).[0m +220.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 58.6 s (AMCL untrusted, spread=3.72); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +221.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903075 ms (missed cycles : 3).[0m +222.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498117 ms (missed cycles : 4).[0m +222.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 60.8 s (AMCL untrusted, spread=1.94); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +223.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132831 ms (missed cycles : 3).[0m +224.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649478 ms (missed cycles : 3).[0m +224.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 63.0 s (AMCL untrusted, spread=1.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +225.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739380 ms (missed cycles : 3).[0m +226.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383045 ms (missed cycles : 3).[0m +226.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 65.2 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +227.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919998 ms (missed cycles : 4).[0m +228.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821791 ms (missed cycles : 3).[0m +228.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 67.4 s (AMCL untrusted, spread=0.42); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +229.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379966 ms (missed cycles : 2).[0m +230.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056233 ms (missed cycles : 3).[0m +231.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 69.6 s (AMCL untrusted, spread=0.59); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +231.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739130 ms (missed cycles : 3).[0m +232.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237895 ms (missed cycles : 2).[0m +233.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 71.6 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +233.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482588 ms (missed cycles : 4).[0m +234.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806257 ms (missed cycles : 2).[0m +235.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 73.8 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +235.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090393 ms (missed cycles : 4).[0m +237.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586348 ms (missed cycles : 4).[0m +237.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 75.8 s (AMCL untrusted, spread=0.35); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +238.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673114 ms (missed cycles : 2).[0m +239.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142437 ms (missed cycles : 2).[0m +239.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 78.0 s (AMCL untrusted, spread=0.34); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +240.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140171 ms (missed cycles : 4).[0m +241.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622524 ms (missed cycles : 4).[0m +241.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 80.0 s (AMCL untrusted, spread=0.36); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +242.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380057 ms (missed cycles : 4).[0m +243.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263297 ms (missed cycles : 4).[0m +243.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 82.2 s (AMCL untrusted, spread=0.33); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +244.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898137 ms (missed cycles : 3).[0m +245.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038081 ms (missed cycles : 4).[0m +245.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 84.4 s (AMCL untrusted, spread=0.30); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +246.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367037 ms (missed cycles : 4).[0m +247.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322259 ms (missed cycles : 2).[0m +247.77sINFOobjective_server_node[0;m[33m[WARN] [2026-08-13 02:43:56.437] DIAG_TPF stamp=1786589036.007959819 target=world cloud_age=0.4135s tf_wait=0.0077s total=921600 finite=921600 IN_BOX=0 (in_x=0 in_y=0 in_z=73511) base=[-4.1122,12.8790,-0.0480] bbox_x=[9.658,3900.602] bbox_y=[-1739.036,-20.588] bbox_z=[0.007,1416.135] centroid=[61.545,-47.157,17.119][0m +247.87sWARNobjective_server_nodeDIAG_CROP in_frame=world box_frame=world in_pts=921600 out_pts=0 box_dim=[5.000,4.000,0.200] min_corner=[-2.500,10.500,1.600] box2cloud_t=[0.0000,0.0000,0.0000] stamp=1786589036.007959000[0m +247.88sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +247.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1786589036.55357027 seconds +247.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 86.4 s (AMCL untrusted, spread=0.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +248.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786589037.16546273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +248.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044548 ms (missed cycles : 2).[0m +249.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728268 ms (missed cycles : 3).[0m +249.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 88.4 s (AMCL untrusted, spread=1.29); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +250.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767371 ms (missed cycles : 2).[0m +251.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635883 ms (missed cycles : 3).[0m +252.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 90.6 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +252.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786589041.29557705 seconds +252.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855739 ms (missed cycles : 3).[0m +253.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786589041.86608338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +253.58sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). +253.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158282 ms (missed cycles : 4).[0m +254.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 92.8 s (AMCL untrusted, spread=1.11); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +254.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964093 ms (missed cycles : 3).[0m +255.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700614 ms (missed cycles : 2).[0m +256.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 95.0 s (AMCL untrusted, spread=1.11); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +256.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812600 ms (missed cycles : 2).[0m +258.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166727 ms (missed cycles : 4).[0m +258.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 97.0 s (AMCL untrusted, spread=1.12); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +259.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438592 ms (missed cycles : 3).[0m +260.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022930 ms (missed cycles : 3).[0m +260.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 99.0 s (AMCL untrusted, spread=1.07); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +261.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714457 ms (missed cycles : 2).[0m +262.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468581 ms (missed cycles : 3).[0m +262.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 101.2 s (AMCL untrusted, spread=1.02); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +263.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717558 ms (missed cycles : 3).[0m +264.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219206 ms (missed cycles : 2).[0m +264.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 103.4 s (AMCL untrusted, spread=1.15); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +265.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398993 ms (missed cycles : 4).[0m +266.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410784 ms (missed cycles : 3).[0m +267.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 105.6 s (AMCL untrusted, spread=1.11); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +267.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566992 ms (missed cycles : 3).[0m +268.21sINFOros2_control_nodeMuJoCo sim: 2.46% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +268.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941012 ms (missed cycles : 2).[0m +269.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 107.8 s (AMCL untrusted, spread=0.68); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +269.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831001 ms (missed cycles : 2).[0m +270.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364333 ms (missed cycles : 2).[0m +271.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 109.8 s (AMCL untrusted, spread=0.49); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +271.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595816 ms (missed cycles : 4).[0m +272.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401636 ms (missed cycles : 3).[0m +273.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 112.0 s (AMCL untrusted, spread=0.38); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +273.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639390 ms (missed cycles : 4).[0m +274.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271871 ms (missed cycles : 4).[0m +275.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 114.0 s (AMCL untrusted, spread=0.28); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +275.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032055 ms (missed cycles : 4).[0m +276.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164135 ms (missed cycles : 5).[0m +277.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 116.0 s (AMCL untrusted, spread=0.25); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +277.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168004 ms (missed cycles : 5).[0m +279.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676953 ms (missed cycles : 3).[0m +279.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 118.0 s (AMCL untrusted, spread=0.32); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +280.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438358 ms (missed cycles : 4).[0m +281.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305622 ms (missed cycles : 4).[0m +281.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 120.0 s (AMCL untrusted, spread=0.40); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +282.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754728 ms (missed cycles : 3).[0m +283.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.435556 ms (missed cycles : 6).[0m +283.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 122.0 s (AMCL untrusted, spread=0.44); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +284.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685850 ms (missed cycles : 3).[0m +285.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946348 ms (missed cycles : 2).[0m +285.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 124.2 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +286.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728688 ms (missed cycles : 3).[0m +287.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281705 ms (missed cycles : 3).[0m +287.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 126.2 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +288.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685906 ms (missed cycles : 2).[0m +289.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010899 ms (missed cycles : 2).[0m +289.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 128.4 s (AMCL untrusted, spread=0.43); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +290.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914833 ms (missed cycles : 2).[0m +291.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549595 ms (missed cycles : 4).[0m +291.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 130.4 s (AMCL untrusted, spread=0.46); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +292.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125490 ms (missed cycles : 2).[0m +293.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823115 ms (missed cycles : 2).[0m +294.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 132.6 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +294.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978587 ms (missed cycles : 3).[0m +296.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914756 ms (missed cycles : 3).[0m +296.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 134.6 s (AMCL untrusted, spread=0.47); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +297.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606804 ms (missed cycles : 4).[0m +298.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815448 ms (missed cycles : 5).[0m +298.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 136.6 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +299.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991468 ms (missed cycles : 3).[0m +300.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.111358 ms (missed cycles : 5).[0m +300.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 138.8 s (AMCL untrusted, spread=0.45); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +301.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358249 ms (missed cycles : 6).[0m +302.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024219 ms (missed cycles : 2).[0m +302.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 141.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +303.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934994 ms (missed cycles : 3).[0m +304.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394059 ms (missed cycles : 3).[0m +304.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 143.0 s (AMCL untrusted, spread=0.50); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +305.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297730 ms (missed cycles : 2).[0m +306.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521546 ms (missed cycles : 4).[0m +306.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 145.2 s (AMCL untrusted, spread=0.53); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +307.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512100 ms (missed cycles : 3).[0m +308.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037626 ms (missed cycles : 2).[0m +308.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 147.4 s (AMCL untrusted, spread=0.55); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +309.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401041 ms (missed cycles : 3).[0m +309.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786589098.58623099 seconds +310.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786589099.16068625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +310.87sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). +310.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537260 ms (missed cycles : 3).[0m +311.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 149.6 s (AMCL untrusted, spread=0.70); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +311.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324257 ms (missed cycles : 3).[0m +312.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885361 ms (missed cycles : 3).[0m +313.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 151.8 s (AMCL untrusted, spread=0.84); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +314.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484646 ms (missed cycles : 3).[0m +315.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141536 ms (missed cycles : 3).[0m +315.18sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). +315.21sINFOobjective_server_nodePath shortcutter: [X__________________X] +315.24sINFOobjective_server_nodeFound path in 0 iterations (5.54e-07 s). +315.31sINFOobjective_server_nodePath shortcutter: [X_________________________X] +315.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +315.37sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 153.8 s (AMCL untrusted, spread=0.86); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +315.42sINFOobjective_server_nodePath shortcutter: [X_______________________________X] +315.46sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). +315.73sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +315.81sINFOobjective_server_nodeFound path in 0 iterations (4.73e-07 s). +316.06sINFOobjective_server_nodeFound path in 31 iterations (0.0457108 s). +316.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113196 ms (missed cycles : 3).[0m +316.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X______X] +316.55sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). +317.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +317.08sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). +317.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168073 ms (missed cycles : 4).[0m +317.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +317.57sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 156.0 s (AMCL untrusted, spread=0.87); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +317.80sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +318.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361269 ms (missed cycles : 3).[0m +319.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791195 ms (missed cycles : 3).[0m +319.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 158.2 s (AMCL untrusted, spread=0.90); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +320.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729515 ms (missed cycles : 4).[0m +321.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081336 ms (missed cycles : 2).[0m +321.77sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 160.2 s (AMCL untrusted, spread=0.99); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +322.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686595 ms (missed cycles : 3).[0m +323.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786589112.45674586 seconds +323.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605781 ms (missed cycles : 4).[0m +323.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 162.4 s (AMCL untrusted, spread=1.13); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +324.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589113.06264591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +324.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501927 ms (missed cycles : 3).[0m +324.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589113.58278084 seconds +325.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786589114.13439441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +325.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625551 ms (missed cycles : 3).[0m +325.97sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 164.4 s (AMCL untrusted, spread=0.89); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +325.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786589114.64453006 seconds +326.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +327.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862242 ms (missed cycles : 3).[0m +328.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 166.6 s (AMCL untrusted, spread=0.87); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +328.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624734 ms (missed cycles : 3).[0m +328.21sINFOros2_control_nodeMuJoCo sim: 3.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +329.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488021 ms (missed cycles : 3).[0m +330.17sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 168.6 s (AMCL untrusted, spread=0.90); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +330.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134236 ms (missed cycles : 2).[0m +331.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131518 ms (missed cycles : 3).[0m +331.68sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.69sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.69sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] +331.72sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.72sERRORweb_video_auth_proxy-38process has died [pid 9932, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +331.73sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.73sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.74sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] +331.76sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.77sERRORweb_bridge_auth_proxy-37process has died [pid 9931, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +331.77sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.78sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.78sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.79sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.79sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.80sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.80sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.81sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.81sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.82sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.82sERRORfixed_lag_smoother_node-11process[fixed_lag_smoother_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.83sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.83sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.83sERRORforward_stereo_publisher.py-8process[forward_stereo_publisher.py-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.84sERRORodom_qos_relay.py-7process[odom_qos_relay.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.84sERRORamcl_odom_gate-6process[amcl_odom_gate-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.85sERRORslip_aware_odom-5process[slip_aware_odom-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.85sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.86sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.86sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.87sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +331.87sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] +331.89sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] +331.93sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] +331.95sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] +331.97sINFOvideo_server-36process has finished cleanly [pid 9930] +331.98sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system +331.98sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] +332.01sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] +332.05sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +332.09sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] +332.14sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] +332.18sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] +332.20sINFOtf2_web_republisher_node-35process has finished cleanly [pid 9929] +332.21sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] +332.25sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] +332.28sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] +332.32sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] +332.33sINFOui_teleop_bridge-33process has finished cleanly [pid 9927] +332.33sINFOcomponent_container_mt-31process has finished cleanly [pid 9924] +332.35sINFOfixed_lag_smoother_node-11sending signal 'SIGTERM' to process[fixed_lag_smoother_node-11] +332.36sERRORmove_group-24process has died [pid 9854, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_uli_yusz --params-file /tmp/launch_params_h48krygw --params-file /tmp/launch_params_f82wbrsf --params-file /tmp/launch_params_at2886j8 --params-file /tmp/launch_params_c1_pel1x --params-file /tmp/launch_params_pyzp4woi']. +332.38sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +332.39sINFOexecute_objective_bridge-32process has finished cleanly [pid 9926] +332.41sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +332.44sINFOforward_stereo_publisher.py-8sending signal 'SIGTERM' to process[forward_stereo_publisher.py-8] +332.47sINFOodom_qos_relay.py-7sending signal 'SIGTERM' to process[odom_qos_relay.py-7] +332.49sINFOamcl_odom_gate-6sending signal 'SIGTERM' to process[amcl_odom_gate-6] +332.52sINFOslip_aware_odom-5sending signal 'SIGTERM' to process[slip_aware_odom-5] +332.52sINFOobjective_server_node_main-29process has finished cleanly [pid 9922] +332.55sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] +332.58sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +332.62sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +332.64sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +332.64sINFOvideo_server2026/08/13 02:45:20 INF shutting down gracefully +332.65sINFOvideo_server2026/08/13 02:45:20 INF [WebRTC] closing +332.65sINFOvideo_server2026/08/13 02:45:20 INF [RTSP] closing +332.65sINFOvideo_server2026/08/13 02:45:20 INF waiting for running hooks +332.65sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +332.65sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +332.65sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +332.65sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +332.65sINFOcomponent_container_mtStopping planning scene monitor[0m +332.65sINFOobjective_server_node[0;m[0m[INFO] [2026-08-13 02:45:20.765] signal_handler(SIGINT/SIGTERM)[0m +332.66sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +332.66sWARNamcl_odom_gateamcl_odom_gate coasting on odom for 170.6 s (AMCL untrusted, spread=0.82); map->odom is dead-reckoning and will drift until AMCL re-locks.[0m +332.66sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system +332.66sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +332.66sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +332.66sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +332.66sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +332.66sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +332.66sERRORmove_groupwhat(): context cannot be slept with because it's invalid +332.66sERRORmove_groupStack trace (most recent call last) in thread 10539: +332.66sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +332.66sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe66365db63, in __clone +332.66sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe6635d0b83, in +332.66sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe663862db3, in +332.66sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fe663fd3637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +332.66sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe663bf4620, in rclcpp::Rate::sleep() +332.66sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe663b36d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +332.66sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe663af8087, in +332.66sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe663831390, in __cxa_throw +332.66sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe66381ba54, in std::terminate() +332.66sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe6638310d9, in +332.66sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe66381bff4, in +332.66sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe66355c8fe, in abort +332.66sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe66357927d, in raise +332.66sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe6635d2c0c, in pthread_kill +332.66sERRORmove_groupAborted (Signal sent by tkill() 9854 0) +332.67sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +332.67sINFOros2_control_nodeShutdown request received....[0m +332.67sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +332.67sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +332.67sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +332.67sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +332.67sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +332.67sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +332.67sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +332.67sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +332.67sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +332.67sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +332.67sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +332.67sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +332.67sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +332.67sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +332.67sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +332.67sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +332.67sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +332.67sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +332.67sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +332.67sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +332.67sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +332.67sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +332.67sINFOros2_control_nodeShutting down the controller manager.[0m +332.67sWARNamcl_odom_gateamcl_odom_gate: latency-compensation target is newer than the odom buffer (odom TF lag exceeds latency_compensation_sec=0.30 s); clamped, under-compensating.[0m +332.67sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +332.67sINFOobjective_server_node[2026-08-13 02:45:21.073] [moveit_pro_license] [critical] +332.68sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 +332.68sERRORodom_qos_relay.pyTraceback (most recent call last): +332.68sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +332.68sINFOodom_qos_relay.pymain() +332.68sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +332.68sINFOodom_qos_relay.pyrclpy.spin(node) +332.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +332.68sINFOodom_qos_relay.pyexecutor.spin_once() +332.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +332.68sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +332.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +332.68sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +332.68sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +332.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +332.68sINFOodom_qos_relay.pyreturn next(self._cb_iter) +332.68sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +332.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +332.68sINFOodom_qos_relay.pyraise ExternalShutdownException() +332.68sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +332.68sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m +332.68sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system +332.68sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +332.69sINFOros2_control_nodeAsync messages lost 0[0m ×2 +332.69sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 +332.69sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m +332.69sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +332.84sERRORcomponent_container_isolated-2process has died [pid 9754, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_mcimz8gc --params-file /tmp/launch_params_az2i4is5 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +333.21sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 9921] +333.23sINFOmove_joint_resampler_node-27process has finished cleanly [pid 9920] +333.31sINFOcomponent_container_mt-30process has finished cleanly [pid 9923] +333.31sINFOwaypoint_manager_node-26process has finished cleanly [pid 9919] +333.32sINFOparameter_manager_node-25process has finished cleanly [pid 9899] +333.43sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 9840] +333.46sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 9761] +333.47sINFOfixed_lag_smoother_node-11process has finished cleanly [pid 9841] +333.56sINFOforward_stereo_publisher.py-8process has finished cleanly [pid 9760] +333.56sINFOslip_aware_odom-5process has finished cleanly [pid 9757] +333.58sERRORodom_qos_relay.py-7process has died [pid 9759, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +333.62sINFOstatic_transform_publisher-3process has finished cleanly [pid 9755] +334.08sERRORcomponent_container_isolated-1process has died [pid 9753, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_mcimz8gc --params-file /tmp/launch_params_prcuzxiw -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +334.53sINFOamcl_odom_gate-6process has finished cleanly [pid 9758] +334.58sINFOodom_world_drift-4process has finished cleanly [pid 9756] +335.04sINFOweb_bridge-34process has finished cleanly [pid 9928] +335.04sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system +335.06sINFOros2_control_node-12process has finished cleanly [pid 9842] +344.71sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-13-02-45-29-886286-f1137ee59fe2-13948 ×2 +358.65sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +358.68sWARNamcl_odom_gateamcl_odom_gate: no map->odom yet -- waiting for /particle_cloud and the odom->ridgeback_base_link TF; nothing is being broadcast. ×4 +358.73sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +358.73sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +358.73sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +358.74sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +358.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +358.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +358.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +358.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +358.79sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +358.79sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +358.79sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +358.79sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +358.79sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +358.82sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +358.82sINFOmap_serverCreating +358.84sINFOcontroller_serverCreating controller server +358.88sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +358.89sINFOlocal_costmap.local_costmapCreating Costmap +358.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +358.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +358.93sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +358.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +358.94sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +358.94sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +358.94sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +358.96sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +358.97sINFOstate_estimatorReceived a set_pose request (stamp: 1786589147640130571, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +358.99sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +359.00sINFOsmoother_serverCreating smoother server +359.00sINFOcontroller_managerupdate rate is 600 Hz +359.00sINFOcontroller_managerOverruns handling is : enabled +359.00sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +359.01sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +359.03sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +359.03sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +359.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +359.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +359.04sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +359.04sINFOros2_control_node-12process started with pid [14087] ×2 +359.04sINFOmove_group-24process started with pid [14106] ×2 +359.04sINFOparameter_manager_node-25process started with pid [14141] ×2 +359.04sINFOwaypoint_manager_node-26process started with pid [14142] ×2 +359.05sINFOmove_joint_resampler_node-27process started with pid [14146] ×2 +359.05sINFOmove_end_effector_resampler_node-28process started with pid [14150] ×2 +359.05sINFOobjective_server_node_main-29process started with pid [14151] ×2 +359.05sINFOcomponent_container_mt-30process started with pid [14152] ×2 +359.05sINFOcomponent_container_mt-31process started with pid [14153] ×2 +359.05sINFOexecute_objective_bridge-32process started with pid [14155] ×2 +359.05sINFOui_teleop_bridge-33process started with pid [14156] ×2 +359.05sINFOweb_bridge-34process started with pid [14157] ×2 +359.05sINFOtf2_web_republisher_node-35process started with pid [14159] ×2 +359.05sINFOvideo_server-36process started with pid [14161] ×2 +359.05sINFOweb_bridge_auth_proxy-37process started with pid [14181] ×2 +359.05sINFOweb_video_auth_proxy-38process started with pid [14184] ×2 +359.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +359.08sINFOlifecycle_manager_localizationCreating +359.08sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +359.08sINFOcomponent_container_isolated-1process started with pid [13998] ×2 +359.08sINFOcomponent_container_isolated-2process started with pid [13999] ×2 +359.08sINFOstatic_transform_publisher-3process started with pid [14000] ×2 +359.08sINFOodom_world_drift-4process started with pid [14001] ×2 +359.08sINFOslip_aware_odom-5process started with pid [14002] ×2 +359.08sINFOamcl_odom_gate-6process started with pid [14003] ×2 +359.08sINFOodom_qos_relay.py-7process started with pid [14004] ×2 +359.08sINFOforward_stereo_publisher.py-8process started with pid [14005] ×2 +359.08sINFOscan_to_scan_filter_chain-9process started with pid [14006] ×2 +359.08sINFOscan_to_scan_filter_chain-10process started with pid [14085] ×2 +359.08sINFOfixed_lag_smoother_node-11process started with pid [14086] ×2 +359.09sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +359.10sINFOros2-13process started with pid [14088] ×2 +359.10sINFOros2-14process started with pid [14089] ×2 +359.10sINFOros2-15process started with pid [14091] ×2 +359.10sINFOros2-16process started with pid [14094] ×2 +359.10sINFOros2-17process started with pid [14095] ×2 +359.10sINFOros2-18process started with pid [14096] ×2 +359.10sINFOros2-19process started with pid [14097] ×2 +359.10sINFOros2-20process started with pid [14098] ×2 +359.10sINFOros2-21process started with pid [14099] ×2 +359.10sINFOros2-22process started with pid [14102] ×2 +359.10sINFOros2-23process started with pid [14105] ×2 +359.10sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +359.11sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +359.11sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +359.12sINFOmap_serverConfiguring +359.13sWARNslip_aware_odomslip_aware_odom: active source has been silent for 0.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. +359.14sINFOplanner_serverCreating +359.17sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +359.17sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +359.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +359.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +359.20sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +359.20sINFOglobal_costmap.global_costmapCreating Costmap +359.24sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +359.24sINFOamclConfiguring +359.25sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +359.25sINFOmap_serverActivating +359.25sINFOmap_serverCreating bond (map_server) to lifecycle manager. +359.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +359.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +359.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +359.27sINFOrobot_state_publisherRobot initialized +359.28sINFOcontroller_managerReceived robot description from topic. +359.28sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +359.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679774 ms (missed cycles : 5). +359.30sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +359.33sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +359.33sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +359.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +359.36sINFOlifecycle_manager_localizationServer map_server connected with bond. +359.36sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +359.36sINFOamclActivating +359.36sINFOamclSubscribed to initial_pose_topic: /initialpose +359.37sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +359.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +359.38sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +359.38sINFOamclSubscribed to map_topic: /map +359.38sINFOamclSubscribed to scan_topic: /scan_merged +359.39sINFOamclCreated reinitialize_global_localization service +359.39sINFOamclCreated request_nomotion_update service +359.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +359.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +359.40sINFOamclA new map was received +359.40sINFOamclInitializing particle filter instance +359.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679774 ms (missed cycles : 5).[0m ×2 +359.43sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +359.49sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +359.53sINFObt_navigatorCreating +359.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +359.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +359.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +359.57sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +359.57sINFOwaypoint_followerCreating +359.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +359.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +359.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +359.64sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +359.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +359.66sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +359.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +359.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +359.69sINFOlifecycle_manager_navigationCreating +359.72sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +359.75sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +359.75sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +359.75sINFOcontroller_serverConfiguring controller interface +359.75sINFOcontroller_servergetting progress checker plugins.. +359.75sINFOcontroller_servergetting goal checker plugins.. +359.75sINFOcontroller_serverController frequency set to 20.0000Hz +359.75sINFOlocal_costmap.local_costmapConfiguring +359.76sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +359.79sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +359.81sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +359.82sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +359.82sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +359.82sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +359.86sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +359.86sINFOcontroller_serverController Server has progress_checker progress checkers available. +359.86sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +359.87sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +359.87sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +359.90sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +359.92sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +359.92sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +359.93sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +359.93sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +359.93sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.450175 seconds +359.93sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +359.93sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +359.93sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +359.93sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +359.93sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +359.93sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +359.94sINFOmove_groupLoaded robot model in 0.450175 seconds[0m ×2 +359.95sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +359.95sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +359.95sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +359.95sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +359.95sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +359.95sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +359.95sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +359.96sINFOcontroller_serverOptimizer reset ×2 +359.98sINFOcontroller_serverController Server has FollowPath controllers available. +360.01sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +360.01sINFOsmoother_serverConfiguring smoother server +360.03sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +360.04sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +360.06sINFOvideo_server2026/08/13 02:45:48 INF MediaMTX v1.19.3, linux, amd64 ×2 +360.06sINFOvideo_server2026/08/13 02:45:48 INF configuration loaded from /tmp/moveit-webrtc-pe1v5v_i/mediamtx.yml ×2 +360.06sINFOvideo_server2026/08/13 02:45:48 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +360.06sINFOvideo_server2026/08/13 02:45:48 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +360.06sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +360.06sINFOplanner_serverConfiguring +360.06sINFOglobal_costmap.global_costmapConfiguring +360.07sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +360.07sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +360.07sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +360.07sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +360.07sINFOamclParticle filter initialization completed +360.07sINFOamclInitializing particles from estimated pose and covariance +360.08sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +360.08sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +360.12sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +360.12sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +360.13sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +360.17sINFOlifecycle_manager_localizationServer amcl connected with bond. +360.17sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +360.17sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +360.18sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +360.18sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +360.18sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +360.18sINFOamclThe bond connection to the lifecycle manager is now fully formed +360.19sINFOplanner_serverPlanner Server has GridBased planners available. +360.22sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +360.22sINFObehavior_serverConfiguring +360.24sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +360.25sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +360.25sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +360.26sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +360.29sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +360.30sINFObehavior_serverConfiguring spin +360.32sINFObehavior_serverConfiguring backup +360.34sINFObehavior_serverConfiguring drive_on_heading +360.36sINFObehavior_serverConfiguring assisted_teleop +360.40sINFObehavior_serverConfiguring wait +360.42sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +360.42sINFObt_navigatorConfiguring +360.43sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +360.45sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application +360.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908973 ms (missed cycles : 3). +360.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908973 ms (missed cycles : 3).[0m ×2 +360.68sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +360.76sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +360.76sINFOwaypoint_followerConfiguring +360.81sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +360.82sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +360.82sINFOvelocity_smootherConfiguring velocity smoother +360.82sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +360.82sINFOcontroller_serverActivating +360.82sINFOlocal_costmap.local_costmapActivating +360.82sINFOlocal_costmap.local_costmapChecking transform +360.82sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×8 +360.92sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +360.93sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.93sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +360.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +361.13sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. +361.14sWARNslip_aware_odomslip_aware_odom: active source has been silent for 2.50s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry.[0m ×2 +361.18sINFOwaypoint_manager_nodeLoaded robot model in 0.467742 seconds[0m ×2 +361.19sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +361.19sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +361.38sINFOmove_group[2026-08-13 02:45:50.053] [moveit_pro_license] [info] ×2 +361.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269929 ms (missed cycles : 2). +361.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269929 ms (missed cycles : 2).[0m ×2 +361.80sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +362.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.11sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.11sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.11sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.12sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.12sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +362.19sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +362.19sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +362.19sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +362.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +362.19sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +362.19sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +362.20sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +362.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +362.20sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +362.21sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +362.21sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +362.49sINFOwaypoint_manager_node[2026-08-13 02:45:51.165] [moveit_pro_license] [info] ×2 +362.63sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +362.64sINFOcontroller_managerActivating component 'ur_mujoco_control'. +362.64sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +362.64sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +362.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697669 ms (missed cycles : 2). +362.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697669 ms (missed cycles : 2).[0m ×2 +362.67sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +362.67sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +362.81sINFOobjective_server_node[2026-08-13 02:45:51.480] [moveit_pro_license] [info] ×2 +362.81sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +362.81sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +362.89sINFOobjective_server_nodeLoaded robot model in 0.0344017 seconds[0m ×2 +362.97sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +362.97sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +363.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +363.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +363.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +363.04sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +363.05sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +363.05sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +363.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +363.15sWARNslip_aware_odomslip_aware_odom: active source has been silent for 4.52s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +363.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +363.23sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +363.27sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +363.27sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +363.28sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +363.28sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +363.28sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +363.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +363.29sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +363.44sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +363.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.44sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.45sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +363.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +363.47sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +363.49sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +363.64sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +363.64sINFOros2_control_node[2026-08-13 02:45:52.307] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +363.64sINFOros2_control_node[2026-08-13 02:45:52.311] [info] Controller state will be published at 10 Hz. ×2 +363.64sINFOros2_control_node[2026-08-13 02:45:52.312] [info] VelocityForceController 'on_configure' succeeded. ×2 +363.73sINFOcomponent_container_mtLoaded robot model in 0.430246 seconds[0m ×2 +363.88sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786589151.432 for reason 'discarding message because the queue is full' +363.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794657 ms (missed cycles : 2). +363.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794657 ms (missed cycles : 2).[0m ×2 +364.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +364.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +364.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +364.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +364.03sINFOros2-21process has finished cleanly [pid 14099] ×2 +364.07sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +364.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +364.08sINFOplatform_velocity_controller_nav2configure successful +364.12sINFOmove_groupMoveGroup debug mode is ON +364.27sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +364.46sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +364.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +364.47sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +364.47sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +364.51sINFOros2-18process has finished cleanly [pid 14096] ×2 +364.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +364.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +364.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +364.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +364.54sINFOcontroller_managerSuccessfully switched controllers! ×7 +364.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +364.58sINFOcomponent_container_mt[2026-08-13 02:45:53.253] [moveit_pro_license] [info] ×2 +364.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.785ms +364.82sINFOlocal_costmap.local_costmapstart +364.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266882 ms (missed cycles : 3). +364.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266882 ms (missed cycles : 3).[0m ×2 +364.91sINFOros2-15process has finished cleanly [pid 14091] ×2 +364.91sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +364.91sINFOcontroller_managerLoading controller 'vacuum_gripper' +364.91sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +364.91sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +364.93sWARNcontroller_serverParameter controller_server.verbose not found +364.93sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +364.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +364.94sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +364.98sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +364.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +364.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +364.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +364.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +365.04sINFOlifecycle_manager_navigationServer controller_server connected with bond. +365.04sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +365.04sINFOsmoother_serverActivating +365.04sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +365.15sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +365.15sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +365.15sINFOplanner_serverActivating +365.15sINFOglobal_costmap.global_costmapActivating +365.15sINFOglobal_costmap.global_costmapChecking transform +365.15sINFOglobal_costmap.global_costmapstart +365.17sWARNslip_aware_odomslip_aware_odom: active source has been silent for 6.54s (> 0.50s) -- treating it as dead, not a handoff. Withholding held odometry. +365.31sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +365.31sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +365.31sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +365.31sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +365.35sINFOros2-17process has finished cleanly [pid 14095] ×2 +365.38sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +365.38sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +365.39sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +365.40sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +365.72sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +365.72sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +365.77sINFOros2-14process has finished cleanly [pid 14089] ×2 +365.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +365.79sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +365.85sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +365.86sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +365.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635442 ms (missed cycles : 2). +365.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635442 ms (missed cycles : 2).[0m ×2 +366.20sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +366.20sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +366.31sINFOlifecycle_manager_navigationServer planner_server connected with bond. +366.31sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +366.31sINFObehavior_serverActivating +366.31sINFObehavior_serverActivating spin +366.31sINFObehavior_serverActivating backup +366.31sINFObehavior_serverActivating drive_on_heading +366.31sINFObehavior_serverActivating assisted_teleop +366.31sINFObehavior_serverActivating wait +366.31sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +366.36sINFOros2_control_node[2026-08-13 02:45:55.028] [info] Controller state will be published at 20 Hz. ×2 +366.36sINFOros2_control_node[2026-08-13 02:45:55.029] [info] JointVelocityController 'on_configure' succeeded. ×2 +366.41sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +366.41sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +366.41sINFObt_navigatorActivating +366.48sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +366.58sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +366.58sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +366.58sINFOwaypoint_followerActivating +366.58sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +366.69sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +366.69sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +366.69sINFOvelocity_smootherActivating +366.69sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +366.75sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +366.75sINFOcontroller_managerLoading controller 'platform_velocity_controller' +366.75sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +366.75sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +366.75sINFOros2-23process has finished cleanly [pid 14105] ×2 +366.80sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +366.80sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +366.80sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +366.82sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +366.82sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +366.82sINFOplatform_velocity_controllerconfigure successful +366.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +366.83sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +367.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847371 ms (missed cycles : 2). +367.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847371 ms (missed cycles : 2).[0m ×2 +367.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +367.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +367.19sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +367.19sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +367.21sINFOros2-16process has finished cleanly [pid 14094] ×2 +367.31sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +367.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +367.31sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +367.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +367.31sWARNstate_estimatorOptimization exceeded the configured duration by 21335556ns +367.32sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +367.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +367.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +367.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +367.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' +367.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +367.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +367.74sINFOros2-19process has finished cleanly [pid 14097] ×2 +367.79sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +367.79sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +368.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737615 ms (missed cycles : 2). +368.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737615 ms (missed cycles : 2).[0m ×2 +368.31sINFOros2_control_node[2026-08-13 02:45:56.983] [info] Controller state will be published at 20 Hz. ×2 +368.31sINFOros2_control_node[2026-08-13 02:45:56.984] [info] JointVelocityController 'on_configure' succeeded. ×2 +368.68sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +368.68sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +368.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +368.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +368.72sINFOros2-22process has finished cleanly [pid 14102] ×2 +368.76sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +368.77sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +368.78sINFOforce_torque_sensor_broadcasterconfigure successful +368.78sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +368.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +369.12sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +369.12sINFOcontroller_managerLoading controller 'velocity_force_controller' +369.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ +369.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_oj66typ8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tw03soyh --params-file /tmp/launch_params_91sgvc1_ [0m ×2 +369.16sINFOros2-13process has finished cleanly [pid 14088] ×2 +369.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185562 ms (missed cycles : 3). +369.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185562 ms (missed cycles : 3).[0m ×2 +369.22sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +369.23sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +369.77sINFOros2_control_node[2026-08-13 02:45:58.443] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +369.77sINFOros2_control_node[2026-08-13 02:45:58.445] [info] Controller state will be published at 10 Hz. ×2 +369.78sINFOros2_control_node[2026-08-13 02:45:58.446] [info] VelocityForceController 'on_configure' succeeded. ×2 +370.15sINFOros2-20process has finished cleanly [pid 14098] ×2 +370.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690522 ms (missed cycles : 3). +370.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690522 ms (missed cycles : 3).[0m ×2 +371.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). +371.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 +372.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). +372.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 +372.68sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +373.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). +373.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 +374.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). +374.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 +375.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +375.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +375.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +375.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 +375.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +375.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). +375.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 +375.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 +376.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +376.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 +376.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). +376.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 +376.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +376.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +376.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +376.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +376.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +376.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +376.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +376.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 +377.33sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 19 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918444 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 19 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 28 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889810 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889810 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080842 ms (missed cycles : 3).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793288 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447256 ms (missed cycles : 2).[0m ×2 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786589163.69442701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.63sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786589163.70469141 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786589164.26503277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786589164.27516508 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786589164.82961130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786589164.98031259 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712100 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786589165.58583570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786589165.64596105 seconds ×3 + 4.93sWARNstate_estimatorOptimization exceeded the configured duration by 41270253ns + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786589166.21406674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450785 ms (missed cycles : 3).[0m ×2 + 6.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488642 ms (missed cycles : 3).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||